Undocumented Numbers: delta

[idlebear]

Where does the value 0.6 come from when delta is calculated?

__device__ float pOcc(int r, float zk, int index, float resolution)
{
    float occ_max = 0.95f;
    float delta = 0.6f / resolution;         // <--- this line

    return occ_max * exp(-0.5f * (index - r) * (index - r) / (delta * delta));
}

While this seems to work well with larger maps (100m), when I run the same code on a jackal at smaller scale (10m), the result is extra wide occupancy blocks that don't coincide with the walls. A value of delta==1 works at a small scale, but isn't tied to the map resolution so isn't really a solution for the longer term (and looks a little thin at larger scales).

[TheCodez]

0.6 is a value that looked good in the demo scene. The whole pOcc should be changed to operate in meters and the delta(stddev) and occ_max parameter should then be configurable LaserMeasurementGrid::Params.