at-wat
commented
3 years ago [#859] FAILED on noetic
Tested on Alpine ROS
Closed nhatao closed 3 years ago
at-wat
commented
3 years ago Tested on Alpine ROS
at-wat
commented
3 years ago Tested on Alpine ROS
codecov-io
commented
3 years ago Merging #343 into master will decrease coverage by
1.72%. The diff coverage is85.27%.
@@ Coverage Diff @@
## master #343 +/- ##
==========================================
- Coverage 94.07% 92.35% -1.73%
==========================================
Files 34 36 +2
Lines 1806 2276 +470
==========================================
+ Hits 1699 2102 +403
- Misses 107 174 +67 | Impacted Files | Coverage Δ | |
|---|---|---|
| src/lidar_measurement_model_beam.cpp | 86.50% <73.07%> (-11.98%) |
:arrow_down: |
| src/mcl_3dl.cpp | 89.15% <81.11%> (-1.17%) |
:arrow_down: |
| include/mcl_3dl/raycasts/raycast_using_kdtree.h | 87.50% <87.50%> (ø) |
|
| include/mcl_3dl/raycasts/raycast_using_dda.h | 96.20% <96.20%> (ø) |
|
| ..._measurement_models/lidar_measurement_model_beam.h | 100.00% <100.00%> (ø) |
|
| ..._random_samplers/point_cloud_sampler_with_normal.h | 90.47% <100.00%> (ø) |
|
| include/mcl_3dl/raycast.h | 100.00% <100.00%> (ø) |
|
| ... and 2 more |
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nhatao
commented
3 years ago @at-wat PTAL.
at-wat
commented
3 years ago Tested on Alpine ROS
at-wat
commented
3 years ago Tested on Alpine ROS
This PR adds a faster raycast algorithm using DDA(Digital Differential Analyzer). DDA is a line drawing algorithm, and can enumerate all voxels that a line passes through. The details of the DDA are described in this paper. The name of variables are based on this paper.
The result of performance_raycast on my laptop is shown below. The new algorithm is much faster than the current algorithm unless map is updated frequently.
In addition, I modified the likelihood calculation algorithm of LidarMeasurementModelBeam. It gives a penalty both when a range scan distance is shorter or longer than expected. By default, the previous likelihood calculation algorithm (gives a penalty only when a range scan distance is shorter than expected) is used. (
add_penalty_short_only_mode : true)