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This document describes the multiple parameters of the checks used in config: SLAM and config: Relocalization and config: Object localization .

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Example YAML

checks:
    # [optional, default=<depends>] Minimum expected overlap to the map after registration. Switch to ERROR mode if not respected
    min_overlap: 0.25
    # [optional, default=<depends>(m)] Maximum distance to the map after registration. Switch to ERROR mode if not respected
    max_distance_to_map: 0.1
    # [optional, default=<depends>] Rejection ratio used to discard incoming frames that have suspiciously low nb of points, e.g. less than input_rejection_ratio previous_frame
    input_rejection_ratio: 0.7

Explanation

min_overlap

Concerned nodes : relocalization, object_localization

This parameter defines the minimum required overlap of the registered frame on the map (between 0 and 1). If overlap is too low, this could indicate a wrong registration, then the output state of the ExwayzStatus would be set to 2 (ERROR)

max_distance_to_map

Concerned nodes : relocalization, object_localization

This parameter defines the maximum tolerated average distance to the map of the registered frame. If it is too high, this could indicate a wrong registration, then the output state of the ExwayzStatus would be set to 2 (ERROR)

input_rejection_ratio

Concerned nodes : relocalization, slam

When a new frame is received, if its number of points differs too much from the previous frame, one may suspect that this new input is incomplete and should be discarded. The input_rejection_ratio defines this threshold: the incoming frame is discarded if the number of points of the new frame is less than the input_rejection_ratio $\times$ (maximum number of points over the 5 last frames).