103 lines
2.7 KiB
Plaintext
103 lines
2.7 KiB
Plaintext
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fixed=world
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base=base
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odometry=odometry
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# Apply a voxel grid filter on incoming point clouds.
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grid_filter=1
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# Resolution of voxel grid filter.
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grid_res=0.2
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# Apply a random downsample filter on incoming point clouds.
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random_filter=0
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# Percentage of points to discard. Must be between 0.0 and 1.0.
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decimate_percentage=0.60 #0.9
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# Apply a statistical outlier filter on incoming point clouds.
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outlier_filter=1
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# Standard deviation threshold in distance to neighbors for outlier removal.
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outlier_std=1.0
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# Number of nearest neighbors for outlier removal filter.
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outlier_knn=5 #10
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# Apply a radius filter on incoming point clouds.
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radius_filter=0
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# Size of the radius outlier filter.
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radius=0.15
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# If this number of neighbors are not found within a radius of a point, remove
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# the point.
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radius_knn=3
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octree_resolution=0.05 # 0.05
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# Stop ICP if the transformation from the last iteration was this small.
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tf_epsilon=0.0000000001
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# During ICP, two points won't be considered a correspondence if they are at
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# least this far from one another.
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corr_dist=2.0
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# Iterate ICP this many times.
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iterations=10
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# Maximum acceptable incremental rotation and translation.
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transform_thresholding=0
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max_translation=0.09
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max_rotation=0.1
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# Toggle loop closures on or off. Setting this to off will increase run-time
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# speed by a small fraction.
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check_for_loop_closures=1
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# Default parameters for the ISAM2 data structure.
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relinearize_skip=1
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relinearize_threshold=0.01
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# Amount of translational distance the sensor must travel before adding a new
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# pose to the pose graph. This helps keep the graph sparse so that loop closures
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# are fast.
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translation_threshold=0.5
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# When searching through old poses for loop closures, only consider old poses
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# that are within this distance of the current pose.
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proximity_threshold=1.5
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# To compute a loop closure we perform ICP between the current scan and laser
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# scans captured from nearby poses. In order to be considered a loop closure,
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# the ICP "fitness score" must be less than this number.
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max_tolerable_fitness=0.15
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# Don't attempt loop closures with poses in the graph that were collected within
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# the last 'skip_recent_poses' poses.
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skip_recent_poses=40
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# If a loop has recently been closed, don't close a new one for at least this
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# many poses (i.e. the sensor would have to move translation_threshold *
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# poses_before_reclosing meters in order to close a new loop).
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poses_before_reclosing=40
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#<!-- Initial pose -->
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position_x=0.0
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position_y=0.0
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position_z=0.0
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position_sigma_x=0.1
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position_sigma_y=0.1
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position_sigma_z=0.1
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orientation_roll=0.0
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orientation_pitch=0.0
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orientation_yaw=0.0
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orientation_sigma_roll=0.02
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orientation_sigma_pitch=0.02
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orientation_sigma_yaw=0.02
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