data/presets/camera_tof_icp.ini

# Could be used with TOF cameras like Kinect v2, Kinect For Azure or L515

[Camera]
Scan\downsampleStep = 4
Scan\fromDepth = true
Scan\normalsK = 20
Scan\normalsRadius = 0
Scan\normalsUp = false
Scan\rangeMax = 0
Scan\rangeMin = 0
Scan\voxelSize = 0.05

[Gui]
General\showClouds0 = false
General\showClouds1 = false

[Core]
Icp\CorrespondenceRatio = 0.2
Icp\Epsilon = 0.005
Icp\OutlierRatio = 0.65
Icp\PointToPlaneMinComplexity = 0
Icp\Strategy = 0
Icp\VoxelSize = 0
Odom\Deskewing = false
Odom\ScanKeyFrameThr = 0.7
OdomF2M\ScanMaxSize = 15000
# match the input voxel size:
OdomF2M\ScanSubtractRadius = 0.05 
RGBD\ProximityPathMaxNeighbors = 1
# Make sure PM is used:
Reg\Strategy = 1
LiDAR capture support in standalone library (#1264) * Working rtabmap_lidar-mapping example (live and pcap) * finalizing merge, added some deprecated * fixed build * Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI. * backward compatibility * fixed some not used variable warnings, fixed qt build for lidar mapping example * Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8 * ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera inputs. * Working external lidar on iOS * util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup * fixed winsock include order * reverted camera tool * disable imu filtering when odom sensor is used * Updated package version * fixed windows build * fixing more windows build erros 2024-04-14 19:06:04 -07:00			`# Could be used with TOF cameras like Kinect v2, Kinect For Azure or L515`

			`[Camera]`
			`Scan\downsampleStep = 4`
			`Scan\fromDepth = true`
			`Scan\normalsK = 20`
			`Scan\normalsRadius = 0`
			`Scan\normalsUp = false`
			`Scan\rangeMax = 0`
			`Scan\rangeMin = 0`
			`Scan\voxelSize = 0.05`

			`[Gui]`
			`General\showClouds0 = false`
			`General\showClouds1 = false`

			`[Core]`
			`Icp\CorrespondenceRatio = 0.2`
			`Icp\Epsilon = 0.005`
			`Icp\OutlierRatio = 0.65`
			`Icp\PointToPlaneMinComplexity = 0`
			`Icp\Strategy = 0`
			`Icp\VoxelSize = 0`
			`Odom\Deskewing = false`
			`Odom\ScanKeyFrameThr = 0.7`
			`OdomF2M\ScanMaxSize = 15000`
			`# match the input voxel size:`
			`OdomF2M\ScanSubtractRadius = 0.05`
			`RGBD\ProximityPathMaxNeighbors = 1`
			`# Make sure PM is used:`
			`Reg\Strategy = 1`