feat(ndt_scan_matcher): add scale_factor to covariance_estimation (#1081

) Added scale_factor to ndt_scan_matcher.covariance_estimation Signed-off-by: Shintaro Sakoda <[email protected]>
autowarefoundation · Jul 19, 2024 · 4e22964 · 4e22964
1 parent e07760e
commit 4e22964
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml
@@ -119,6 +119,9 @@
         # In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance
         temperature: 0.1
 
+        # Scale value for adjusting the estimated covariance by a constant multiplication
+        scale_factor: 1.0
+
 
     dynamic_map_loading:
       # Dynamic map loading distance