feat(ndt_scan_matcher): added score diff to ndt diag #7227
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Signed-off-by: Shintaro Sakoda <[email protected]>
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Signed-off-by: Shintaro Sakoda <[email protected]>
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…ion#7227) * Added score diff to ndt diag Signed-off-by: Shintaro Sakoda <[email protected]> * Updated README.md Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* Added score diff to ndt diag Signed-off-by: Shintaro Sakoda <[email protected]> * Updated README.md Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Description
Since ndt_scan_matcher performs score optimization, it is desirable for the score to increase with each run. Currently, we do not check how the score changes with each run of NDT, so we will first introduce a change to output score difference to
/diagnostics.Relate PR
Tests performed
For now, I've confirmed that the correct values are being sent to
/diagnostics.The results have been plotted for the AWSIM Nishi-Shinjuku data.
Transform Probability Diff
Nearest Voxel Transformation Likelihood Diff
In this data, there appears to be a small bump in the roll direction around the first intersection, which is likely to be the reason for the large Score Diff.
At around 18 seconds in the video below
awsim_nishishinjuku.mp4
In the future, we plan to check the indicators using larger amounts of data and set appropriate thresholds if they exist.
Effects on system behavior
There are no effects on system behavior.
Interface changes
Output is added to
/diagnosticsof ndt_scan_matcher.It is redundant to show both the diff and the before, so I can remove "before".
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