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fix grammar
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Signed-off-by: vividf <[email protected]>
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vividf committed May 7, 2024
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12 changes: 6 additions & 6 deletions sensor/tag_based_pnp_calibrator/README.md
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Expand Up @@ -65,12 +65,12 @@ Below, you can see how the algorithm is implemented in the `tag_based_pnp_calibr
| `new_hypothesis_distance` | `double` | `1.5` | Distance threshold with respect to converged hypotheses for creating a new hypothesis. |
| `tag_ids` | `std::vector<int>` | `[0, 1, 2, 3, 4, 5]` | List of tag IDs that are used in the calibration process. |
| `tag_sizes` | `std::vector<double>` | `[0.6, 0.6, 0.6, 0.6, 0.6, 0.6]` | Payload sizes of the tags corresponding to the IDs in meters. The size of the vector should be same as the size of `tag_ids`. |
| `lidartag_max_convergence_translation` | `double` | `0.05` | Maximum translation in meters allowed for a lidar tag detection hypothesis to be considered as converged. |
| `lidartag_max_convergence_translation_dot` | `double` | `0.03` | Maximum translation velocity in meter/second in allowed for a lidar tag detection hypothesis to be considered as converged. |
| `lidartag_max_convergence_rotation` | `double` | `3.0` | Maximum rotation in degrees allowed for a lidar tag detection hypothesis to be considered as converged. |
| `lidartag_max_convergence_rotation_dot` | `double` | `2.5` | Maximum rotation velocity in degree/second allowed for a lidar tag detection hypothesis to be considered as converged. |
| `lidartag_new_hypothesis_translation` | `double` | `0.1` | Translation threshold in meters for generating a new hypothesis in lidar tag tracking. |
| `lidartag_new_hypothesis_rotation` | `double` | `15.0` | Rotation threshold in degree for generating a new hypothesis in lidar tag tracking. |
| `lidartag_max_convergence_translation` | `double` | `0.05` | Maximum translation in meters allowed for a lidartag detection hypothesis to be considered as converged. |
| `lidartag_max_convergence_translation_dot` | `double` | `0.03` | Maximum translation velocity in meter/second allowed for a lidartag detection hypothesis to be considered as converged. |
| `lidartag_max_convergence_rotation` | `double` | `3.0` | Maximum rotation in degrees allowed for a lidartag detection hypothesis to be considered as converged. |
| `lidartag_max_convergence_rotation_dot` | `double` | `2.5` | Maximum rotation velocity in degree/second allowed for a lidartag detection hypothesis to be considered as converged. |
| `lidartag_new_hypothesis_translation` | `double` | `0.1` | Translation threshold in meters for generating a new hypothesis in lidartag tracking. |
| `lidartag_new_hypothesis_rotation` | `double` | `15.0` | Rotation threshold in degree for generating a new hypothesis in lidartag tracking. |
| `lidartag_measurement_noise_translation` | `double` | `0.05` | The square of this value in meters is part of input for Kalman Filter to measurement noise covariance matrix (R). |
| `lidartag_measurement_noise_rotation` | `double` | `5.0` | The square of this value in degrees is part of input for measurementNoiseCov to measurement noise covariance matrix (R). |
| `lidartag_process_noise_translation` | `double` | `0.01` | The square of this value in meters is part of input for Kalman Filter to process noise covariance matrix (Q). |
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