;======================================================= ; Parameters of the characterization ;======================================================= [Params] bitmap_file=test_gridmap2.png evaluation_grid_resolution = 0.05 ; 0: Simulate and scan & compute obs. lik. of that scan from each pose ; 1: Compute the lik. of a point at each pose (i.e. the "likelihood field") type_experiment = 0 evalgrid_x_min = -1.0 evalgrid_x_max = 1 evalgrid_y_min = -1 evalgrid_y_max = 1 ;======================================================= ; Likelihood Options for OccupancyGridMap ;======================================================= [LikelihoodOptions] likelihoodMethod=4 ; 0=MI, 1=Beam Model, 2=RSLC, 3=Cells Difs, 4=LF_Trun, 5=LF_II LF_decimation=1 LF_stdHit=0.20 LF_maxCorrsDistance=0.30 LF_zHit=0.999 LF_zRandom=0.001 LF_maxRange=30 LF_alternateAverageMethod=0 enableLikelihoodCache=0