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Simple Open Source EtherCAT Master
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Calculate Logarithm of Hu-Moments on Map Generation #826

Closed de6b30 closed 5 months ago

de6b30 commented 5 months ago

At the moment the logarithm of the Hu moments is calculated while loading the Map Blobs from File:

map-pipeline.cpp, line 82:

tmp.hu_mean[i] = metrics::signed_log(tmp.hu_mean[i]); // NOTE: possibly add hu_min/max log here as well.

We should do this in the map-generator before saving the map files to save compute time in the localization loop.

We should also investigate if the above comment from the source code has still any relevance.

de6b30 commented 5 months ago

Please delete, issue has been opened by mistake