Bitcraze Forums

Hi,

from the LPS ROS / scripts there is the LPS_Pf.py file for the particle filter.

I am after confirmation of the variables in the particle filter in line 43:
pf = pfilter.ParticleFilter(200, 0.1, (10, 10, 2))

can anyone explain the variables for me.

Thanks
hyperglider

Hi hyperglider,

The variables are:
200: The number of particle in the particle filter
0.1: The "noise" added to the particle at each step (the higher, the faster the solution will be able to move, the more noise in the solution)
(10, 10, 2): The bonding box of the particle. Here 10 by 10 by 2 meters.

/Arnaud

Hi,

What is the "bonding box of the particle"?

Regards
hyperglider

The particle filter will generate particles that represent possible position of the Crazyflie, the bounding box is the limit where these particles will be located. The box should be bigger than the space in which you want to locate the Crazyflie.