Currently, the particle filter’s initialize() method spawns particles immediately on the first call even if only a partial radar scan has arrived. This might lead to a poor initial particle distribution. We should buffer radar data until a complete 360° sweep.
Impact: More consistent initialization and better early tracking performance.
Suggested approach: Add a sweep counter or timestamp latch in the node; defer calling pf_->initialize() until the sweep is complete.
Currently, the particle filter’s initialize() method spawns particles immediately on the first call even if only a partial radar scan has arrived. This might lead to a poor initial particle distribution. We should buffer radar data until a complete 360° sweep.
Impact: More consistent initialization and better early tracking performance.
Suggested approach: Add a sweep counter or timestamp latch in the node; defer calling pf_->initialize() until the sweep is complete.