20211231 back wheel border, wheelbase weight.

setting/velodyne_manager.prototxt

@@ -316,7 +316,7 @@ region
     plc_offsetx:1.93
     plc_offsety:-6.1368
     plc_offset_degree:-89.5
-    plc_border_miny:-7.51
+    plc_border_miny:-7.45
     car_min_width:1.55
     car_max_width:1.92
     car_min_wheelbase:2.3
@@ -364,7 +364,7 @@ region
     plc_offsetx:-1.86
     plc_offsety:-6.1368
     plc_offset_degree:-89.5
-    plc_border_miny:-7.51
+    plc_border_miny:-7.45
     car_min_width:1.55
     car_max_width:1.92
     car_min_wheelbase:2.3

tool/common_data.h

@@ -119,7 +119,7 @@ public:
 		// wx=1 wy=1 wa=0.5 wb=1 ww=0.5 wft=0.5
 		float calc_score()
 		{
-			float weights[] = {1.0f, 1.0f, 0.5f, 0.1f, 0.05f, 0.05f};
+			float weights[] = {0.5f, 0.5f, 0.25f, 1.0f, 0.25f, 0.1f};
 			float final_score = 0.0f;
 			final_score += fabs(weights[0] * this->car_center_x);
 			final_score += fabs(weights[1] * this->car_center_y);

velodyne_lidar/icp_svd_registration.cpp

@@ -98,7 +98,7 @@ bool ICPSVDRegistration::ScanMatch(
         // TODO: do not have enough correspondence -- break:
         if(t_correspondence < 4 || xs.size() != ys.size() || xs.size()<=0)
         {
-            std::cout<<"icp_svd not enough correspondence "<<std::endl;
+            // std::cout<<"icp_svd not enough correspondence "<<std::endl;
             return false;
         }
 
@@ -118,7 +118,7 @@ bool ICPSVDRegistration::ScanMatch(
         t_avg_correspond_dist_sq /= xs.size();
         if(t_avg_correspond_dist_sq > euc_fitness_eps_)
         {
-            std::cout<<"correspond avg dist sq too large: " << t_avg_correspond_dist_sq <<std::endl;
+            // std::cout<<"correspond avg dist sq too large: " << t_avg_correspond_dist_sq <<std::endl;
             return false;
         }