Integrated to UI

data/presets/lidar3d_icp.ini

@@ -1,3 +1,5 @@
+# Kept for backward compatibility, see also lidar3d_icp_indoor.ini or lidar3d_icp_outdoor.ini
+
 # Could be used with LiDARs like Velodyne, RoboSense, Ouster
 
 [Camera]

data/presets/lidar3d_icp_indoor.ini

@@ -0,0 +1,46 @@
+# Could be used with LiDARs like Velodyne, RoboSense, Ouster
+
+[Camera]
+Scan\downsampleStep = 1
+Scan\fromDepth = false
+Scan\normalsK = 0
+Scan\normalsRadius = 0
+Scan\normalsUp = false
+Scan\rangeMax = 0
+Scan\rangeMin = 0
+Scan\voxelSize = 0
+
+[Gui]
+General\showClouds0 = false
+General\showClouds1 = false
+
+[Core]
+# Would be 0.01 for odom and 0.2 for mapping:
+Icp\CorrespondenceRatio = 0.1
+Icp\Epsilon = 0.001
+Icp\FiltersEnabled = 2
+Icp\Iterations = 10
+Icp\OutlierRatio = 0.7
+# ~10x the voxel size:
+Icp\MaxCorrespondenceDistance = 1
+Icp\MaxTranslation = 2
+# Uncomment if lidar can see ground most of the time (on a car or wheeled robot):
+#Icp\PointToPlaneGroundNormalsUp = 0.8
+Icp\PointToPlaneK = 20
+Icp\PointToPlaneMinComplexity = 0
+# Make sure PM is used:
+Icp\Strategy = 1
+Icp\VoxelSize = 0.1
+Mem\NotLinkedNodesKept = false
+Mem\STMSize = 30
+Odom\Deskewing = true
+Odom\GuessSmoothingDelay = 0.3
+Odom\ScanKeyFrameThr = 0.6
+OdomF2M\ScanMaxSize = 15000
+# Match voxel size:
+OdomF2M\ScanSubtractRadius = 0.1
+RGBD\AngularUpdate = 0.05
+RGBD\LinearUpdate = 0.05
+RGBD\ProximityMaxGraphDepth = 0
+RGBD\ProximityPathMaxNeighbors = 1
+Reg\Strategy = 1

data/presets/lidar3d_icp_outdoor.ini

@@ -0,0 +1,46 @@
+# Could be used with LiDARs like Velodyne, RoboSense, Ouster
+
+[Camera]
+Scan\downsampleStep = 1
+Scan\fromDepth = false
+Scan\normalsK = 0
+Scan\normalsRadius = 0
+Scan\normalsUp = false
+Scan\rangeMax = 0
+Scan\rangeMin = 0
+Scan\voxelSize = 0
+
+[Gui]
+General\showClouds0 = false
+General\showClouds1 = false
+
+[Core]
+# Would be 0.01 for odom and 0.2 for mapping:
+Icp\CorrespondenceRatio = 0.1
+Icp\Epsilon = 0.001
+Icp\FiltersEnabled = 2
+Icp\Iterations = 10
+Icp\OutlierRatio = 0.7
+# ~10x the voxel size:
+Icp\MaxCorrespondenceDistance = 5
+Icp\MaxTranslation = 5
+# Uncomment if lidar can see ground most of the time (on a car or wheeled robot):
+#Icp\PointToPlaneGroundNormalsUp = 0.8
+Icp\PointToPlaneK = 20
+Icp\PointToPlaneMinComplexity = 0
+# Make sure PM is used:
+Icp\Strategy = 1
+Icp\VoxelSize = 0.5
+Mem\NotLinkedNodesKept = false
+Mem\STMSize = 30
+Odom\Deskewing = true
+Odom\GuessSmoothingDelay = 0.3
+Odom\ScanKeyFrameThr = 0.6
+OdomF2M\ScanMaxSize = 15000
+# Match voxel size:
+OdomF2M\ScanSubtractRadius = 0.5
+RGBD\AngularUpdate = 0.05
+RGBD\LinearUpdate = 0.05
+RGBD\ProximityMaxGraphDepth = 0
+RGBD\ProximityPathMaxNeighbors = 1
+Reg\Strategy = 1