perf(ndt_scan_matcher): changed default initial_estimate_particles_num to 200
#5220
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Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
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Codecov ReportAll modified lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #5220 +/- ##
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Coverage 14.79% 14.79%
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Files 1648 1648
Lines 113918 113918
Branches 35074 35074
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Hits 16859 16859
Misses 78135 78135
Partials 18924 18924
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This was referenced Oct 11, 2023
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…um` to 200 (autowarefoundation#5220) Changed initial_estimate_particles_num to 200 Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
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…um` to 200 (autowarefoundation#5220) Changed initial_estimate_particles_num to 200 Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
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…um` to 200 (autowarefoundation#5220) Changed initial_estimate_particles_num to 200 Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
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Description
In this pull request, I propose to change the default value of
initial_estimate_particles_num, mainly because the initial pose estimation at AWSIM Nishi-Shinjuku fails about 10% of the time.Related link
autowarefoundation/autoware_launch#618
Evaluation
Performed 1000 initial position estimations and recorded TP scores.
initial_estimate_particles_num= 100mean_score: 5.171 ± 1.488
mean_elapsed_time: 0.537 ± 0.036 [sec]
initial_estimate_particles_num= 200mean_score: 5.938 ± 0.911
mean_elapsed_time: 1.073 ± 0.043 [sec]
The TP score improves, but processing time is approximately doubled.
Tests performed
Tested by
Effects on system behavior
Improves the performance of initial position estimation, but it takes more time in default parameters.
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