Help needed - How to enable taking further feature points into computation

[HappySamuel]

Hi

When my robot is far away from the building features, the scan-to-map matching become less depend on them, which give a bad localization result. Is there a parameter to adjust for that? Or how shall i amend the code to achieve that?

Best,
Samuel

[at-wat]

mcl_3dl/src/parameters.cpp

Lines 58 to 74 in b192ce8

	mcl_3dl_compat::paramRename<double>(pnh, "likelihood/clip_near", "clip_near");
	mcl_3dl_compat::paramRename<double>(pnh, "likelihood/clip_far", "clip_far");
	mcl_3dl_compat::paramRename<double>(pnh, "likelihood/clip_z_min", "clip_z_min");
	mcl_3dl_compat::paramRename<double>(pnh, "likelihood/clip_z_max", "clip_z_max");
	mcl_3dl_compat::paramRename<double>(pnh, "likelihood/match_dist_min", "match_dist_min");
	mcl_3dl_compat::paramRename<double>(pnh, "likelihood/match_dist_flat", "match_dist_flat");
	mcl_3dl_compat::paramRename<double>(pnh, "likelihood/match_weight", "match_weight");
	mcl_3dl_compat::paramRename<double>(pnh, "likelihood/num_points", "num_points");
	mcl_3dl_compat::paramRename<double>(pnh, "likelihood/num_points_global", "num_points_global");
	mcl_3dl_compat::paramRename<double>(pnh, "beam/clip_near", "clip_beam_near");
	mcl_3dl_compat::paramRename<double>(pnh, "beam/clip_far", "clip_beam_far");
	mcl_3dl_compat::paramRename<double>(pnh, "beam/clip_z_min", "clip_beam_z_min");
	mcl_3dl_compat::paramRename<double>(pnh, "beam/clip_z_max", "clip_beam_z_max");
	mcl_3dl_compat::paramRename<double>(pnh, "beam/num_points", "num_points_beam");
	mcl_3dl_compat::paramRename<double>(pnh, "beam/beam_likelihood", "beam_likelihood");
	mcl_3dl_compat::paramRename<double>(pnh, "beam/ang_total_ref", "ang_total_ref");

likelihood/clip_far and beam/clip_far should be increased to use the points far from the robot.
likelihood/match_dist_min may also be needed to be increased for large environment. Points which are not within likelihood/match_dist_min from the map will be ignored in the likelihood calculation.

[HappySamuel]

Hi @at-wat

For example,
for likelihood/clip_far as 50m, how much shall i set for likelihood/match_dist_min ?
for likelihood/clip_far as 100m, how much shall i set for likelihood/match_dist_min ?