mirror of
https://github.com/introlab/rtabmap.git
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700704bec9
* 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
47 lines
1.1 KiB
INI
47 lines
1.1 KiB
INI
# Could be used with LiDARs like Velodyne, RoboSense, Ouster
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[Camera]
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Scan\downsampleStep = 1
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Scan\fromDepth = false
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Scan\normalsK = 0
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Scan\normalsRadius = 0
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Scan\normalsUp = false
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Scan\rangeMax = 0
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Scan\rangeMin = 0
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Scan\voxelSize = 0
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[Gui]
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General\showClouds0 = false
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General\showClouds1 = false
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[Core]
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# Would be 0.01 for odom and 0.2 for mapping:
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Icp\CorrespondenceRatio = 0.1
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Icp\Epsilon = 0.001
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Icp\FiltersEnabled = 2
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Icp\Iterations = 10
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Icp\OutlierRatio = 0.7
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# ~10x the voxel size:
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Icp\MaxCorrespondenceDistance = 0.5
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Icp\MaxTranslation = 2
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# Uncomment if lidar can see ground most of the time (on a car or wheeled robot):
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#Icp\PointToPlaneGroundNormalsUp = 0.8
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Icp\PointToPlaneK = 20
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Icp\PointToPlaneMinComplexity = 0
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# Make sure PM is used:
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Icp\Strategy = 1
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Icp\VoxelSize = 0.05
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Mem\NotLinkedNodesKept = false
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Mem\STMSize = 30
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Odom\Deskewing = true
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Odom\GuessSmoothingDelay = 0.3
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Odom\ScanKeyFrameThr = 0.6
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OdomF2M\ScanMaxSize = 15000
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# Match voxel size:
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OdomF2M\ScanSubtractRadius = 0.05
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RGBD\AngularUpdate = 0.05
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RGBD\LinearUpdate = 0.05
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RGBD\ProximityMaxGraphDepth = 0
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RGBD\ProximityPathMaxNeighbors = 1
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Reg\Strategy = 1
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