feature(graph_segment, gnss_particle_corrector): make some features switchable

tier4 / YabLoc

Open source visual localization for self-driving vehicles

Apache License 2.0

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feature(graph_segment, gnss_particle_corrector): make some features switchable #17

Closed KYabuuchi closed 1 year ago

KYabuuchi commented 1 year ago

make additional_graph_segment_pickup disablable in grpah_segment_node
- and it is disabled in expressway.launch.xml
enlarge gnss_mahalanobis_distance_threshold in gnss_particle_corrector for expressway.launch.xml

Both of these functions were designed to tackle urban roads, but they are ineffective on expressways.

KYabuuchi commented 1 year ago

@kminoda This PR may affect your evaluation task. I found some features, developed for Odaiba, works badly on the expressway, so I disabled them. There is no influence other than tier4_expressway.launch.xml.