mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-09-12 06:10:19 +08:00
Updated with rtabmap-0.19.5, added tange_min and range_max parameters to point_cloud_assembler nodelet
This commit is contained in:
matlabbe
@@ -18,32 +18,26 @@
|
||||
<folderInfo id="0.250647335." name="/" resourcePath="">
|
||||
<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.1185920931" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
|
||||
<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1185920931.1819283928" name=""/>
|
||||
<builder arguments="VERBOSE=true -j2" buildPath="${ProjDirPath}/../../build/rtabmap_ros" command="make" id="org.eclipse.cdt.build.core.settings.default.builder.425794023" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
|
||||
<builder arguments="VERBOSE=true -j8" buildPath="${ProjDirPath}/../../build/rtabmap_ros" command="make" id="org.eclipse.cdt.build.core.settings.default.builder.425794023" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.libs.1445630059" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.1764610277" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.undef.incpaths.701469504" superClass="org.eclipse.cdt.build.core.settings.holder.undef.incpaths" valueType="undefIncludePath">
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.8"/>
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.7"/>
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.10"/>
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.11"/>
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.undef.incpaths.701469504" name="Undefined Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.undef.incpaths" valueType="undefIncludePath"/>
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1724942327" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value="/home/labm2414/catkin_ws/devel/include/rtabmap-0.19"/>
|
||||
</option>
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1671812416" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.1195149217" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.undef.incpaths.496481855" superClass="org.eclipse.cdt.build.core.settings.holder.undef.incpaths" valueType="undefIncludePath">
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.8"/>
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.7"/>
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.10"/>
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.11"/>
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.undef.incpaths.496481855" name="Undefined Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.undef.incpaths" valueType="undefIncludePath"/>
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1953247819" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value="/home/labm2414/catkin_ws/devel/include/rtabmap-0.19"/>
|
||||
</option>
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.747334269" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.1906811302" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.undef.incpaths.1018768267" superClass="org.eclipse.cdt.build.core.settings.holder.undef.incpaths" valueType="undefIncludePath">
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.8"/>
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.7"/>
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.10"/>
|
||||
<listOptionValue builtIn="false" value="/home/mathieu/catkin_ws/devel/include/rtabmap-0.11"/>
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.undef.incpaths.1018768267" name="Undefined Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.undef.incpaths" valueType="undefIncludePath"/>
|
||||
<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1454816819" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value="/home/labm2414/catkin_ws/devel/include/rtabmap-0.19"/>
|
||||
</option>
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.537988677" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
@@ -55,7 +49,6 @@
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.language.mapping"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
|
||||
</cconfiguration>
|
||||
@@ -176,4 +169,5 @@
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
|
||||
</cproject>
|
||||
|
||||
@@ -5,6 +5,11 @@
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.python.pydev.PyDevBuilder</name>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
@@ -78,5 +83,6 @@
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
<nature>org.python.pydev.pythonNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
|
||||
+1
-1
@@ -31,7 +31,7 @@ find_package(find_object_2d)
|
||||
|
||||
## System dependencies are found with CMake's conventions
|
||||
# find_package(Boost REQUIRED COMPONENTS system)
|
||||
find_package(RTABMap 0.19.3 REQUIRED)
|
||||
find_package(RTABMap 0.19.5 REQUIRED)
|
||||
|
||||
find_package(OpenCV REQUIRED)
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
[General]
|
||||
windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\x2\0\0\x2\xeb\0\0\x2\x9f\0\0\x4\x32\0\0\x1\n\0\0\x3\a\0\0\x2\x97\0\0\x4*\0\0\0\0\0\0)
|
||||
windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\x8a\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\x9c\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\b\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x8e\0\0\x1\xe\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)
|
||||
windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\x1\x2\0\0\x2\xeb\0\0\x2\x96\0\0\x4*\0\0\x1\x2\0\0\x3\a\0\0\x2\x96\0\0\x4*\0\0\0\0\0\0\0\0\a\x80)
|
||||
windowState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xc4\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xa8\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1;\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x95\0\0\x1\xe\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)"
|
||||
|
||||
[Camera]
|
||||
1deviceId=0
|
||||
@@ -14,13 +14,32 @@ windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\
|
||||
9queueSize=1
|
||||
|
||||
[Feature2D]
|
||||
1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK"
|
||||
2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK"
|
||||
1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE"
|
||||
2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY"
|
||||
3MaxFeatures=0
|
||||
4Affine=false
|
||||
5AffineCount=6
|
||||
6SubPix=false
|
||||
7SubPixWinSize=3
|
||||
8SubPixIterations=30
|
||||
9SubPixEps=0.02
|
||||
AGAST_nonmaxSuppression=true
|
||||
AGAST_threshold=10
|
||||
AKAZE_descriptorChannels=3
|
||||
AKAZE_descriptorSize=0
|
||||
AKAZE_nOctaveLayers=4
|
||||
AKAZE_nOctaves=4
|
||||
AKAZE_threshold=0.001
|
||||
BRISK_octaves=3
|
||||
BRISK_patternScale=1
|
||||
BRISK_thresh=30
|
||||
Brief_bytes=32
|
||||
DAISY_interpolation=true
|
||||
DAISY_q_hist=8
|
||||
DAISY_q_radius=3
|
||||
DAISY_q_theta=8
|
||||
DAISY_radius=15
|
||||
DAISY_use_orientation=false
|
||||
Dense_featureScaleLevels=1
|
||||
Dense_featureScaleMul=0.1
|
||||
Dense_initFeatureScale=1
|
||||
@@ -34,6 +53,7 @@ FREAK_patternScale=22
|
||||
FREAK_scaleNormalized=true
|
||||
Fast_gpu=false
|
||||
Fast_keypointsRatio=0.05
|
||||
Fast_maxNpoints=5000
|
||||
Fast_nonmaxSuppression=true
|
||||
Fast_threshold=10
|
||||
GFTT_blockSize=3
|
||||
@@ -42,6 +62,16 @@ GFTT_maxCorners=1000
|
||||
GFTT_minDistance=1
|
||||
GFTT_qualityLevel=0.01
|
||||
GFTT_useHarrisDetector=false
|
||||
KAZE_extended=false
|
||||
KAZE_nOctaveLayers=4
|
||||
KAZE_nOctaves=4
|
||||
KAZE_threshold=0.001
|
||||
KAZE_upright=false
|
||||
LATCH_bytes=32
|
||||
LATCH_half_ssd_size=3
|
||||
LATCH_rotationInvariance=true
|
||||
LUCID_blur_kernel=2
|
||||
LUCID_kernel=1
|
||||
MSER_areaThreshold=1.01
|
||||
MSER_delta=5
|
||||
MSER_edgeBlurSize=5
|
||||
@@ -52,6 +82,7 @@ MSER_minArea=60
|
||||
MSER_minDiversity=0.2
|
||||
MSER_minMargin=0.003
|
||||
ORB_WTA_K=2
|
||||
ORB_blurForDescriptor=false
|
||||
ORB_edgeThreshold=31
|
||||
ORB_firstLevel=0
|
||||
ORB_gpu=false
|
||||
@@ -64,6 +95,7 @@ SIFT_contrastThreshold=0.04
|
||||
SIFT_edgeThreshold=10
|
||||
SIFT_nOctaveLayers=3
|
||||
SIFT_nfeatures=0
|
||||
SIFT_rootSIFT=false
|
||||
SIFT_sigma=1.6
|
||||
SURF_extended=true
|
||||
SURF_gpu=false
|
||||
@@ -79,10 +111,13 @@ Star_responseThreshold=30
|
||||
Star_suppressNonmaxSize=5
|
||||
|
||||
[%General]
|
||||
autoPauseOnDetection=false
|
||||
autoScreenshotPath=
|
||||
autoScroll=true
|
||||
autoStartCamera=false
|
||||
autoUpdateObjects=true
|
||||
controlsShown=false
|
||||
debug=false
|
||||
imageFormats=*.png *.jpg *.bmp *.tiff *.ppm
|
||||
invertedSearch=true
|
||||
mirrorView=false
|
||||
@@ -93,27 +128,35 @@ port=0
|
||||
sendNoObjDetectedEvents=false
|
||||
threads=1
|
||||
videoFormats=*.avi *.m4v *.mp4
|
||||
vocabularyFixed=false
|
||||
vocabularyIncremental=false
|
||||
vocabularyUpdateMinWords=2000
|
||||
autoPauseOnDetection=false
|
||||
|
||||
[Homography]
|
||||
allCornersVisible=false
|
||||
confidence=0.995
|
||||
homographyComputed=true
|
||||
ignoreWhenAllInliers=false
|
||||
method="1:LMEDS;RANSAC"
|
||||
maxIterations=2000
|
||||
method="1:LMEDS;RANSAC;RHO"
|
||||
minAngle=50
|
||||
minimumInliers=10
|
||||
opticalFlow=false
|
||||
opticalFlowEps=0.01
|
||||
opticalFlowIterations=30
|
||||
opticalFlowMaxLevel=3
|
||||
opticalFlowWinSize=16
|
||||
ransacReprojThr=5
|
||||
rectBorderWidth=4
|
||||
allCornersVisible=false
|
||||
minAngle=50
|
||||
|
||||
[NearestNeighbor]
|
||||
1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh"
|
||||
1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce"
|
||||
2Distance_type="0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING"
|
||||
3nndrRatioUsed=true
|
||||
4nndrRatio=0.8
|
||||
5minDistanceUsed=false
|
||||
6minDistance=1.6
|
||||
7ConvertBinToFloat=false
|
||||
7search_checks=32
|
||||
8search_eps=0
|
||||
9search_sorted=true
|
||||
@@ -121,6 +164,7 @@ Autotuned_build_weight=0.01
|
||||
Autotuned_memory_weight=0
|
||||
Autotuned_sample_fraction=0.1
|
||||
Autotuned_target_precision=0.8
|
||||
BruteForce_gpu=false
|
||||
Composite_branching=32
|
||||
Composite_cb_index=0.2
|
||||
Composite_centers_init="0:RANDOM;GONZALES;KMEANSPP"
|
||||
@@ -134,3 +178,6 @@ KMeans_iterations=11
|
||||
Lsh_key_size=20
|
||||
Lsh_multi_probe_level=2
|
||||
Lsh_table_number=12
|
||||
search_checks=32
|
||||
search_eps=0
|
||||
search_sorted=true
|
||||
|
||||
+124
-15
@@ -7,6 +7,7 @@ Panels:
|
||||
- /Global Options1
|
||||
- /TF1/Frames1
|
||||
- /Info1
|
||||
- /DepthCloud1/Auto Size1
|
||||
Splitter Ratio: 0.411058009
|
||||
Tree Height: 422
|
||||
- Class: rviz/Selection
|
||||
@@ -26,7 +27,7 @@ Panels:
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
SyncSource: Info
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
@@ -60,7 +61,7 @@ Visualization Manager:
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Enabled: false
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 2.34176998e-38
|
||||
@@ -77,19 +78,42 @@ Visualization Manager:
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
Value: false
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
camera_depth_frame:
|
||||
Value: true
|
||||
camera_depth_optical_frame:
|
||||
Value: true
|
||||
camera_link:
|
||||
Value: true
|
||||
camera_rgb_frame:
|
||||
Value: true
|
||||
camera_rgb_optical_frame:
|
||||
Value: true
|
||||
map:
|
||||
Value: true
|
||||
odom:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
{}
|
||||
map:
|
||||
{}
|
||||
odom:
|
||||
camera_link:
|
||||
camera_depth_frame:
|
||||
camera_depth_optical_frame:
|
||||
{}
|
||||
camera_rgb_frame:
|
||||
camera_rgb_optical_frame:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Class: rviz/Image
|
||||
@@ -121,7 +145,7 @@ Visualization Manager:
|
||||
Color Transformer: RGB8
|
||||
Download graph: false
|
||||
Download map: false
|
||||
Enabled: true
|
||||
Enabled: false
|
||||
Filter ceiling (m): 0
|
||||
Filter floor (m): 0
|
||||
Invert Rainbow: false
|
||||
@@ -140,16 +164,100 @@ Visualization Manager:
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
Value: false
|
||||
- Class: rtabmap_ros/Info
|
||||
Enabled: true
|
||||
Name: Info
|
||||
Topic: /rtabmap/info
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rtabmap_ros/MapGraph
|
||||
Enabled: true
|
||||
Global loop closure: 255; 0; 0
|
||||
Local loop closure: 255; 255; 0
|
||||
Merged neighbor: 255; 170; 0
|
||||
Name: MapGraph
|
||||
Neighbor: 0; 0; 255
|
||||
Topic: /rtabmap/mapGraph
|
||||
Unreliable: false
|
||||
User: 255; 0; 0
|
||||
Value: true
|
||||
Virtual: 255; 0; 255
|
||||
- Alpha: 1
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: false
|
||||
Name: Map
|
||||
Topic: /rtabmap/octomap_grid
|
||||
Unreliable: false
|
||||
Use Timestamp: false
|
||||
Value: false
|
||||
- Class: octomap_rviz_plugin/ColorOccupancyGrid
|
||||
Enabled: false
|
||||
Max. Height Display: 3.40282347e+38
|
||||
Max. Octree Depth: 16
|
||||
Min. Height Display: -3.40282347e+38
|
||||
Name: ColorOccupancyGrid
|
||||
Octomap Topic: /rtabmap/octomap_binary
|
||||
Queue Size: 5
|
||||
Value: false
|
||||
Voxel Alpha: 0.5
|
||||
Voxel Coloring: Z-Axis
|
||||
Voxel Rendering: Occupied Voxels
|
||||
- Alpha: 0.699999988
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: false
|
||||
Name: Map
|
||||
Topic: /rtabmap/grid_map
|
||||
Unreliable: false
|
||||
Use Timestamp: false
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Auto Size:
|
||||
Auto Size Factor: 1
|
||||
Value: true
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/DepthCloud
|
||||
Color: 255; 255; 255
|
||||
Color Image Topic: /camera/rgb/image_rect_color
|
||||
Color Transformer: RGB8
|
||||
Color Transport Hint: raw
|
||||
Decay Time: 0
|
||||
Depth Map Topic: /camera/depth_registered/image
|
||||
Depth Map Transport Hint: raw
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: DepthCloud
|
||||
Occlusion Compensation:
|
||||
Occlusion Time-Out: 30
|
||||
Value: false
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 5
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Style: Flat Squares
|
||||
Topic Filter: true
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
@@ -167,24 +275,25 @@ Visualization Manager:
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 6.35253
|
||||
Distance: 5.61779022
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 1.14572001
|
||||
Y: 0.168097004
|
||||
Z: -1.13136005
|
||||
X: 1.506356
|
||||
Y: 0.0734607875
|
||||
Z: 0.0787572041
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.879796982
|
||||
Pitch: 0.499797344
|
||||
Target Frame: base_link
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 3.73417997
|
||||
Yaw: 2.97818136
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
@@ -194,7 +303,7 @@ Window Geometry:
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003890000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000d700fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f0000031afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000000000031a000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002740000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
@@ -204,5 +313,5 @@ Window Geometry:
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1273
|
||||
X: 86
|
||||
Y: 48
|
||||
X: 524
|
||||
Y: 348
|
||||
|
||||
+329
-178
@@ -1,204 +1,355 @@
|
||||
[Gui]
|
||||
General\imagesKept=true
|
||||
General\loggerLevel=2
|
||||
General\loggerEventLevel=3
|
||||
General\loggerPauseLevel=3
|
||||
General\loggerType=1
|
||||
General\loggerPrintTime=true
|
||||
General\verticalLayoutUsed=true
|
||||
General\imageRejectedShown=true
|
||||
General\imageHighestHypShown=true
|
||||
General\beep=false
|
||||
MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\x80\0\0\x2\x92\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x2\x92\0\0\0\xe0\0\xff\xff\xff\0\0\0\x1\0\0\x5\0\0\0\x2\xa8\xfc\x2\0\0\0\x2\xfc\0\0\0(\0\0\x2\xa8\0\0\0\xe1\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfc\0\0\0\0\0\0\x1\\\0\0\0O\0\xff\xff\xff\xfc\x2\0\0\0\x2\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\x1\0\0\0(\0\0\x1%\0\0\0\x19\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\x1S\0\0\x1}\0\0\0=\0\xff\xff\xff\xfc\0\0\x1\x62\0\0\x3\x9e\0\0\0\xc8\0\xff\xff\xff\xfa\0\0\0\x1\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0(\0\0\x2\x92\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9a\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\0\0\x5\0\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\0\0\x5\0\0\0\x1\x33\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0m\0\xff\xff\xff\0\0\0\0\0\0\x2\xa8\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
|
||||
MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\xc4\0\0\0\xc4\0\0\x5\xd7\0\0\x3\xc3\0\0\0\xce\0\0\0\xea\0\0\x5\xcd\0\0\x3\xb9\0\0\0\0\0\0)
|
||||
General\showClouds0=true
|
||||
General\decimation0=4
|
||||
General\maxDepth0=4
|
||||
General\showScans0=true
|
||||
General\opacity0=1
|
||||
General\ptSize0=1
|
||||
General\opacityScan0=1
|
||||
General\ptSizeScan0=1
|
||||
General\showClouds1=true
|
||||
General\decimation1=4
|
||||
General\maxDepth1=0
|
||||
General\showScans1=true
|
||||
General\opacity1=1
|
||||
General\ptSize1=2
|
||||
General\opacityScan1=1
|
||||
General\ptSizeScan1=1
|
||||
General\cloudFiltering=false
|
||||
General\cloudFilteringRadius=0.2
|
||||
General\cloudFilteringAngle=20
|
||||
General\odomQualityThr=50
|
||||
General\meshing=false
|
||||
General\gridMapShown=false
|
||||
General\gridMapResolution=0.05
|
||||
General\gridMapOccupancyFrom3DCloud=false
|
||||
General\gridMapOpacity=0.75
|
||||
General\posteriorGraphView=true
|
||||
General\showGraphs=true
|
||||
General\octomap=false
|
||||
General\octomap_depth=16
|
||||
General\octomap_ground_is_obstacle=true
|
||||
[Core]
|
||||
Rtabmap\WorkingDirectory=/home/labm2414/.ros
|
||||
|
||||
PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\xde\0\0\0R\0\0\x5\xe8\0\0\x3\x66\0\0\x1\xde\0\0\0R\0\0\x5\xe8\0\0\x3\x66\0\0\0\0\0\0)
|
||||
AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\0\0\0\0\x18\0\0\x2_\0\0\x1\xf2\0\0\0\0\0\0\0\x18\0\0\x2_\0\0\x1\xf2\0\0\0\0\0\0)
|
||||
widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xbf\xf0\0\x13\0\0\0\0\xbe\xb6\0\0\0\0\0\0>\xa4\0\0\0\0\0\0)
|
||||
widget_cloudViewer\camera_focal=@Variant(\0\0\0T>\xa4\0\0\0\0\0\0\xbe\xa1\0\0\0\0\0\0>\xa4\0\0\0\0\0\0)
|
||||
widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0?\xf0\0\0\0\0\0\0)
|
||||
widget_cloudViewer\grid=false
|
||||
widget_cloudViewer\grid_cell_count=50
|
||||
widget_cloudViewer\grid_cell_size=1
|
||||
widget_cloudViewer\trajectory_shown=true
|
||||
widget_cloudViewer\trajectory_size=100
|
||||
widget_cloudViewer\camera_target_locked=false
|
||||
widget_cloudViewer\camera_target_follow=true
|
||||
widget_cloudViewer\camera_free=false
|
||||
widget_cloudViewer\camera_lockZ=true
|
||||
widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
imageView_source\image_shown=true
|
||||
imageView_source\depth_shown=false
|
||||
imageView_source\features_shown=true
|
||||
imageView_source\lines_shown=true
|
||||
imageView_loopClosure\image_shown=true
|
||||
imageView_loopClosure\depth_shown=false
|
||||
imageView_loopClosure\features_shown=true
|
||||
imageView_loopClosure\lines_shown=true
|
||||
imageView_odometry\image_shown=true
|
||||
imageView_odometry\depth_shown=false
|
||||
imageView_odometry\features_shown=true
|
||||
imageView_odometry\lines_shown=true
|
||||
[Gui]
|
||||
AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\x18\0\0\x2_\0\0\x1\xf2\0\0\0\0\0\0\0\x18\0\0\x2_\0\0\x1\xf2\0\0\0\0\0\0\0\0\a\x80)
|
||||
DepthCalibrationDialog\bin_depth=2
|
||||
DepthCalibrationDialog\bin_height=6
|
||||
DepthCalibrationDialog\bin_width=8
|
||||
DepthCalibrationDialog\cone_radius=0.02
|
||||
DepthCalibrationDialog\cone_stddev_thresh=0.10000000000000001
|
||||
DepthCalibrationDialog\decimation=1
|
||||
DepthCalibrationDialog\laser_scan=false
|
||||
DepthCalibrationDialog\max_depth=3.5
|
||||
DepthCalibrationDialog\max_model_depth=10
|
||||
DepthCalibrationDialog\min_depth=0
|
||||
DepthCalibrationDialog\smoothing=1
|
||||
DepthCalibrationDialog\voxel=0.01
|
||||
ExportBundlerDialog\exportPoints=false
|
||||
ExportBundlerDialog\laplacianThr=0
|
||||
ExportBundlerDialog\maxAngularSpeed=0
|
||||
ExportBundlerDialog\maxLinearSpeed=0
|
||||
ExportBundlerDialog\sba_iterations=20
|
||||
ExportBundlerDialog\sba_rematch_features=true
|
||||
ExportBundlerDialog\sba_type=0
|
||||
ExportBundlerDialog\sba_variance=1
|
||||
ExportCloudsDialog\assemble=true
|
||||
ExportCloudsDialog\assemble_voxel=0.005
|
||||
ExportCloudsDialog\regenerate=true
|
||||
ExportCloudsDialog\regenerate_decimation=1
|
||||
ExportCloudsDialog\regenerate_voxel=0.005
|
||||
ExportCloudsDialog\regenerate_max_depth=4
|
||||
ExportCloudsDialog\assemble_voxel=0.0050000000000000001
|
||||
ExportCloudsDialog\bilateral=false
|
||||
ExportCloudsDialog\bilateral_sigma_r=0.10000000000000001
|
||||
ExportCloudsDialog\bilateral_sigma_s=10
|
||||
ExportCloudsDialog\binary=true
|
||||
ExportCloudsDialog\mls=false
|
||||
ExportCloudsDialog\mls_radius=0.04
|
||||
ExportCloudsDialog\mesh=false
|
||||
ExportCloudsDialog\mesh_k=20
|
||||
ExportCloudsDialog\mesh_radius=0.04
|
||||
PostProcessingDialog\detect_more_lc=true
|
||||
PostProcessingDialog\cluster_radius=0.3
|
||||
PostProcessingDialog\cluster_angle=30
|
||||
PostProcessingDialog\iterations=1
|
||||
PostProcessingDialog\reextract_features=false
|
||||
PostProcessingDialog\refine_neigbors=false
|
||||
PostProcessingDialog\refine_lc=false
|
||||
MainWindow\maximized=false
|
||||
MainWindow\status_bar=false
|
||||
widget_cloudViewer\frustum_shown=false
|
||||
widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0)
|
||||
widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
|
||||
widget_cloudViewer\rendering_rate=5
|
||||
imageView_source\alpha=50
|
||||
imageView_source\graphics_view=false
|
||||
imageView_source\graphics_view_scale=true
|
||||
imageView_loopClosure\alpha=50
|
||||
imageView_loopClosure\graphics_view=false
|
||||
imageView_loopClosure\graphics_view_scale=true
|
||||
imageView_odometry\alpha=200
|
||||
imageView_odometry\graphics_view=false
|
||||
imageView_odometry\graphics_view_scale=true
|
||||
ExportCloudsDialog\pipeline=0
|
||||
ExportCloudsDialog\normals_k=10
|
||||
ExportCloudsDialog\regenerate_min_depth=0
|
||||
ExportCloudsDialog\cputsdf_flattenRadius=0.0050000000000000001
|
||||
ExportCloudsDialog\cputsdf_minWeight=0
|
||||
ExportCloudsDialog\cputsdf_randomSplit=1
|
||||
ExportCloudsDialog\cputsdf_resolution=0.01
|
||||
ExportCloudsDialog\cputsdf_size=12
|
||||
ExportCloudsDialog\cputsdf_truncNeg=0.029999999999999999
|
||||
ExportCloudsDialog\cputsdf_truncPos=0.029999999999999999
|
||||
ExportCloudsDialog\filtering=false
|
||||
ExportCloudsDialog\filtering_radius=0.02
|
||||
ExportCloudsDialog\filtering_min_neighbors=2
|
||||
ExportCloudsDialog\subtract=false
|
||||
ExportCloudsDialog\subtract_point_radius=0.02
|
||||
ExportCloudsDialog\subtract_point_angle=0
|
||||
ExportCloudsDialog\subtract_min_neighbors=5
|
||||
ExportCloudsDialog\filtering_radius=0.02
|
||||
ExportCloudsDialog\frame=0
|
||||
ExportCloudsDialog\from_depth=true
|
||||
ExportCloudsDialog\gain=false
|
||||
ExportCloudsDialog\gain_beta=10
|
||||
ExportCloudsDialog\gain_full=false
|
||||
ExportCloudsDialog\gain_overlap=0
|
||||
ExportCloudsDialog\gain_radius=0.02
|
||||
ExportCloudsDialog\gain_rgb=true
|
||||
ExportCloudsDialog\mesh=false
|
||||
ExportCloudsDialog\mesh_angle_tolerance=15
|
||||
ExportCloudsDialog\mesh_clean=true
|
||||
ExportCloudsDialog\mesh_color_radius=0.029999999999999999
|
||||
ExportCloudsDialog\mesh_decimation_factor=0
|
||||
ExportCloudsDialog\mesh_dense_strategy=1
|
||||
ExportCloudsDialog\mesh_k=20
|
||||
ExportCloudsDialog\mesh_max_polygons=0
|
||||
ExportCloudsDialog\mesh_min_cluster_size=0
|
||||
ExportCloudsDialog\mesh_mu=2.5
|
||||
ExportCloudsDialog\mesh_quad=false
|
||||
ExportCloudsDialog\mesh_radius=0.040000000000000001
|
||||
ExportCloudsDialog\mesh_texture=false
|
||||
ExportCloudsDialog\mesh_textureBlending=true
|
||||
ExportCloudsDialog\mesh_textureBlendingDecimation=0
|
||||
ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=0
|
||||
ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0
|
||||
ExportCloudsDialog\mesh_textureCameraFiltering=false
|
||||
ExportCloudsDialog\mesh_textureCameraFilteringAngle=30
|
||||
ExportCloudsDialog\mesh_textureCameraFilteringLaplacian=0
|
||||
ExportCloudsDialog\mesh_textureCameraFilteringRadius=0
|
||||
ExportCloudsDialog\mesh_textureCameraFilteringVel=0
|
||||
ExportCloudsDialog\mesh_textureCameraFilteringVelRad=0
|
||||
ExportCloudsDialog\mesh_textureExposureFusion=false
|
||||
ExportCloudsDialog\mesh_textureFormat=0
|
||||
ExportCloudsDialog\mesh_textureMaxAngle=0
|
||||
ExportCloudsDialog\mesh_textureMaxCount=1
|
||||
ExportCloudsDialog\mesh_textureMaxDepthError=0
|
||||
ExportCloudsDialog\mesh_textureMaxDistance=3
|
||||
ExportCloudsDialog\mesh_textureMinCluster=50
|
||||
ExportCloudsDialog\mesh_textureRoiRatios=0.0 0.0 0.0 0.0
|
||||
ExportCloudsDialog\mesh_textureSize=5
|
||||
ExportCloudsDialog\mesh_triangle_size=2
|
||||
ExportCloudsDialog\mls=false
|
||||
ExportCloudsDialog\mls_dilation_iterations=0
|
||||
ExportCloudsDialog\mls_dilation_voxel_size=0.01
|
||||
ExportCloudsDialog\mls_output_voxel_size=0
|
||||
ExportCloudsDialog\mls_point_density=0
|
||||
ExportCloudsDialog\mls_polygonial_order=2
|
||||
ExportCloudsDialog\mls_radius=0.040000000000000001
|
||||
ExportCloudsDialog\mls_upsampling_method=0
|
||||
ExportCloudsDialog\mls_upsampling_radius=0.01
|
||||
ExportCloudsDialog\mls_upsampling_step=0
|
||||
ExportCloudsDialog\mls_point_density=0
|
||||
ExportCloudsDialog\mls_dilation_voxel_size=0.01
|
||||
ExportCloudsDialog\mls_dilation_iterations=0
|
||||
ExportCloudsDialog\mesh_mu=2.5
|
||||
ExportCloudsDialog\mesh_decimation_factor=0
|
||||
ExportCloudsDialog\mesh_texture=false
|
||||
ExportCloudsDialog\mesh_angle_tolerance=15
|
||||
ExportCloudsDialog\mesh_quad=false
|
||||
ExportCloudsDialog\mesh_triangle_size=2
|
||||
ExportCloudsDialog\normals_k=10
|
||||
ExportCloudsDialog\normals_radius=0
|
||||
ExportCloudsDialog\openchisel_carving_dist_m=0.050000000000000003
|
||||
ExportCloudsDialog\openchisel_chunk_size_x=16
|
||||
ExportCloudsDialog\openchisel_chunk_size_y=16
|
||||
ExportCloudsDialog\openchisel_chunk_size_z=16
|
||||
ExportCloudsDialog\openchisel_far_plane_dist=1.1000000000000001
|
||||
ExportCloudsDialog\openchisel_integration_weight=1
|
||||
ExportCloudsDialog\openchisel_merge_vertices=true
|
||||
ExportCloudsDialog\openchisel_near_plane_dist=0.050000000000000003
|
||||
ExportCloudsDialog\openchisel_truncation_constant=0.0015039999999999999
|
||||
ExportCloudsDialog\openchisel_truncation_linear=0.0015200000000000001
|
||||
ExportCloudsDialog\openchisel_truncation_quadratic=0.0019
|
||||
ExportCloudsDialog\openchisel_truncation_scale=10
|
||||
ExportCloudsDialog\openchisel_use_voxel_carving=false
|
||||
ExportCloudsDialog\pipeline=0
|
||||
ExportCloudsDialog\poisson_depth=0
|
||||
ExportCloudsDialog\poisson_iso=8
|
||||
ExportCloudsDialog\poisson_manifold=true
|
||||
ExportCloudsDialog\poisson_minDepth=5
|
||||
ExportCloudsDialog\poisson_outputPolygons=false
|
||||
ExportCloudsDialog\poisson_pointWeight=4
|
||||
ExportCloudsDialog\poisson_samples=1
|
||||
ExportCloudsDialog\poisson_scale=1.1000000000000001
|
||||
ExportCloudsDialog\poisson_solver=8
|
||||
ExportCloudsDialog\regenerate=true
|
||||
ExportCloudsDialog\regenerate_decimation=1
|
||||
ExportCloudsDialog\regenerate_distortion_model=
|
||||
ExportCloudsDialog\regenerate_fill_error=2
|
||||
ExportCloudsDialog\regenerate_fill_size=0
|
||||
ExportCloudsDialog\regenerate_max_depth=4
|
||||
ExportCloudsDialog\regenerate_min_depth=0
|
||||
ExportCloudsDialog\regenerate_roi=0.0 0.0 0.0 0.0
|
||||
ExportCloudsDialog\regenerate_scan_decimation=1
|
||||
ExportCloudsDialog\regenerate_scan_max_range=0
|
||||
ExportCloudsDialog\regenerate_scan_min_range=0
|
||||
ExportCloudsDialog\regenerate_voxel=0.005
|
||||
ExportCloudsDialog\subtract=false
|
||||
ExportCloudsDialog\subtract_min_neighbors=5
|
||||
ExportCloudsDialog\subtract_point_angle=0
|
||||
ExportCloudsDialog\subtract_point_radius=0.02
|
||||
ExportScansDialog\assemble=true
|
||||
ExportScansDialog\assemble_voxel=0.01
|
||||
ExportScansDialog\binary=true
|
||||
ExportScansDialog\filtering=false
|
||||
ExportScansDialog\filtering_min_neighbors=2
|
||||
ExportScansDialog\filtering_radius=0.02
|
||||
ExportScansDialog\normals_k=20
|
||||
ExportScansDialog\regenerate=false
|
||||
ExportScansDialog\regenerate_decimation=1
|
||||
ExportScansDialog\filtering=false
|
||||
ExportScansDialog\filtering_radius=0.02
|
||||
ExportScansDialog\filtering_min_neighbors=2
|
||||
ExportScansDialog\assemble=true
|
||||
ExportScansDialog\assemble_voxel=0.01
|
||||
Figures\counts=3
|
||||
Figures\curves=Gt/Localization_angular_error/deg Gt/Localization_linear_error/m Timing/Total/ms
|
||||
General\beep=false
|
||||
General\cloudCeilingHeight=0
|
||||
General\cloudFiltering=false
|
||||
General\cloudFilteringAngle=20
|
||||
General\cloudFilteringRadius=0.20000000000000001
|
||||
General\cloudFloorHeight=0
|
||||
General\cloudNoiseMinNeighbors=5
|
||||
General\cloudNoiseRadius=0
|
||||
General\cloudVoxel=0
|
||||
General\cloudsKept=true
|
||||
General\colorScheme0=0
|
||||
General\colorScheme1=0
|
||||
General\colorSchemeScan0=0
|
||||
General\colorSchemeScan1=0
|
||||
General\decimation0=4
|
||||
General\decimation1=4
|
||||
General\downsamplingScan0=1
|
||||
General\downsamplingScan1=1
|
||||
General\figure_cache=true
|
||||
General\figure_time=true
|
||||
General\gridMapOpacity=0.75
|
||||
General\gridMapShown=false
|
||||
General\gtAlign=true
|
||||
General\imageHighestHypShown=true
|
||||
General\imageRejectedShown=true
|
||||
General\imagesKept=true
|
||||
General\landmarkSize=0
|
||||
General\localizationsGraphView=false
|
||||
General\loggerEventLevel=3
|
||||
General\loggerLevel=2
|
||||
General\loggerPauseLevel=3
|
||||
General\loggerPrintThreadId=false
|
||||
General\loggerPrintTime=true
|
||||
General\loggerType=1
|
||||
General\maxDepth0=4
|
||||
General\maxDepth1=0
|
||||
General\maxRange0=0
|
||||
General\maxRange1=0
|
||||
General\meshing=false
|
||||
General\meshing_angle=15
|
||||
General\meshing_quad=false
|
||||
General\meshing_texture=false
|
||||
General\meshing_triangle_size=2
|
||||
General\minDepth0=0
|
||||
General\minDepth1=0
|
||||
General\minRange0=0
|
||||
General\minRange1=0
|
||||
General\noFiltering=true
|
||||
General\nochangeGraphView=false
|
||||
General\normalKSearch=10
|
||||
General\normalRadiusSearch=0
|
||||
General\notifyNewGlobalPath=false
|
||||
General\octomap=false
|
||||
General\octomap_2dgrid=true
|
||||
General\octomap_3dmap=true
|
||||
General\octomap_depth=16
|
||||
General\octomap_point_size=5
|
||||
General\octomap_rendering_type=0
|
||||
General\odomDisabled=false
|
||||
General\odomOnlyInliersShown=false
|
||||
General\odomQualityThr=50
|
||||
General\odomRegistration=3
|
||||
General\opacity0=1
|
||||
General\opacity1=1
|
||||
General\opacityScan0=1
|
||||
General\opacityScan1=1
|
||||
General\posteriorGraphView=true
|
||||
General\ptSize0=1
|
||||
General\ptSize1=2
|
||||
General\ptSizeFeatures0=3
|
||||
General\ptSizeFeatures1=3
|
||||
General\ptSizeScan0=1
|
||||
General\ptSizeScan1=1
|
||||
General\roiRatios0=0.0 0.0 0.0 0.0
|
||||
General\roiRatios1=0.0 0.0 0.0 0.0
|
||||
General\scanCeilingHeight=0
|
||||
General\scanFloorHeight=0
|
||||
General\scanNormalKSearch=0
|
||||
General\scanNormalRadiusSearch=0
|
||||
General\showClouds0=true
|
||||
General\showClouds1=true
|
||||
General\showFeatures0=false
|
||||
General\showFeatures1=true
|
||||
General\showFrustums0=false
|
||||
General\showFrustums1=false
|
||||
General\showGraphs=true
|
||||
General\showLabels=false
|
||||
General\showLandmarks=true
|
||||
General\showScans0=true
|
||||
General\showScans1=true
|
||||
General\subtractFiltering=false
|
||||
General\subtractFilteringAngle=0
|
||||
General\subtractFilteringMinPts=5
|
||||
General\subtractFilteringRadius=0.02
|
||||
General\verticalLayoutUsed=true
|
||||
General\voxelSizeScan0=0
|
||||
General\voxelSizeScan1=0
|
||||
General\wordsGraphView=false
|
||||
MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\xd5\0\0\0n\0\0\x5\xd4\0\0\x3\xc6\0\0\0\xd5\0\0\0\x8a\0\0\x5\xd4\0\0\x3\xc6\0\0\0\0\0\0\0\0\a\x80)
|
||||
MainWindow\maximized=false
|
||||
MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1q\0\0\x3\x15\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0(\0\0\x3\x15\0\0\x2O\0\xff\xff\xff\0\0\0\x1\0\0\x3\x89\0\0\x3\x15\xfc\x2\0\0\0\x2\xfc\0\0\0(\0\0\x3\x15\0\0\0\xe1\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfc\0\0\x1w\0\0\0\xf6\0\0\0{\0\xff\xff\xff\xfc\x2\0\0\0\x2\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\0\0\0\0(\0\0\x1%\0\0\0\x19\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0(\0\0\x3\x15\0\0\0=\0\xff\xff\xff\xfc\0\0\x2s\0\0\x2\x8d\0\0\0\xe6\x1\0\0\x1d\xfa\0\0\0\x1\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\x64\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0(\0\0\x2\x92\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9a\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\0\0\x5\0\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\0\0\x5\0\0\0\x1\x38\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0n\0\xff\xff\xff\0\0\0\0\0\0\x3\x15\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
|
||||
MainWindow\status_bar=false
|
||||
PostProcessingDialog\cluster_angle=30
|
||||
PostProcessingDialog\cluster_radius=0.29999999999999999
|
||||
PostProcessingDialog\detect_more_lc=true
|
||||
PostProcessingDialog\inter_session=true
|
||||
PostProcessingDialog\intra_session=true
|
||||
PostProcessingDialog\iterations=1
|
||||
PostProcessingDialog\reextract_features=false
|
||||
PostProcessingDialog\refine_lc=false
|
||||
PostProcessingDialog\refine_neigbors=false
|
||||
PostProcessingDialog\sba=false
|
||||
PostProcessingDialog\sba_iterations=20
|
||||
PostProcessingDialog\sba_epsilon=0
|
||||
PostProcessingDialog\sba_iterations=20
|
||||
PostProcessingDialog\sba_rematch_features=true
|
||||
PostProcessingDialog\sba_type=1
|
||||
PostProcessingDialog\sba_variance=1
|
||||
graphicsView_graphView\node_radius=0.00999999977648258
|
||||
graphicsView_graphView\link_width=0
|
||||
graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
|
||||
PreferencesDialog\geometry="@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\x1\xde\0\0\0\x18\0\0\x5\xe8\0\0\x3,\0\0\x1\xde\0\0\0\x18\0\0\x5\xe8\0\0\x3,\0\0\0\0\0\0\0\0\a\x80)"
|
||||
graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
|
||||
graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
|
||||
graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
|
||||
graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
|
||||
graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
|
||||
graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
|
||||
graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
|
||||
graphicsView_graphView\global_path_visible=true
|
||||
graphicsView_graphView\gps_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\x80\x80\0\0)
|
||||
graphicsView_graphView\gps_graph_visible=true
|
||||
graphicsView_graphView\graph_visible=true
|
||||
graphicsView_graphView\grid_visible=true
|
||||
graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
|
||||
graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\gt_graph_visible=true
|
||||
graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
|
||||
graphicsView_graphView\intra_inter_session_colors_enabled=false
|
||||
graphicsView_graphView\grid_visible=true
|
||||
graphicsView_graphView\origin_visible=true
|
||||
graphicsView_graphView\referential_visible=true
|
||||
graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\link_width=0
|
||||
graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
|
||||
graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
|
||||
graphicsView_graphView\local_path_visible=true
|
||||
graphicsView_graphView\local_radius_visible=false
|
||||
graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0)
|
||||
graphicsView_graphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n)
|
||||
graphicsView_graphView\graph_visible=true
|
||||
graphicsView_graphView\global_path_visible=true
|
||||
graphicsView_graphView\local_path_visible=true
|
||||
graphicsView_graphView\gt_graph_visible=true
|
||||
General\cloudsKept=true
|
||||
General\loggerPrintThreadId=false
|
||||
General\notifyNewGlobalPath=false
|
||||
General\minDepth0=0
|
||||
General\showFeatures0=false
|
||||
General\downsamplingScan0=1
|
||||
General\voxelSizeScan0=0
|
||||
General\ptSizeFeatures0=3
|
||||
General\minDepth1=0
|
||||
General\showFeatures1=true
|
||||
General\downsamplingScan1=1
|
||||
General\voxelSizeScan1=0
|
||||
General\ptSizeFeatures1=3
|
||||
General\cloudVoxel=0
|
||||
General\cloudNoiseRadius=0
|
||||
General\cloudNoiseMinNeighbors=5
|
||||
General\showLabels=false
|
||||
General\noFiltering=true
|
||||
General\subtractFiltering=false
|
||||
General\subtractFilteringMinPts=5
|
||||
General\subtractFilteringRadius=0.02
|
||||
General\subtractFilteringAngle=0
|
||||
General\normalKSearch=10
|
||||
General\gridMapEroded=false
|
||||
General\projMapFrame=true
|
||||
General\projMaxGroundAngle=30
|
||||
General\projMaxGroundHeight=0
|
||||
General\projMinClusterSize=20
|
||||
General\projMaxObstaclesHeight=0
|
||||
General\projFlatObstaclesDetected=true
|
||||
General\meshing_angle=15
|
||||
General\meshing_quad=false
|
||||
General\meshing_triangle_size=2
|
||||
Figures\counts=
|
||||
Figures\curves=
|
||||
graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
|
||||
graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
|
||||
graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
|
||||
graphicsView_graphView\node_radius=0.0099999997764825821
|
||||
graphicsView_graphView\orientation_ENU=false
|
||||
graphicsView_graphView\origin_visible=true
|
||||
graphicsView_graphView\referential_visible=true
|
||||
graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
|
||||
graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
|
||||
imageView_loopClosure\alpha=50
|
||||
imageView_loopClosure\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
imageView_loopClosure\colormap=0
|
||||
imageView_loopClosure\depth_shown=false
|
||||
imageView_loopClosure\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
|
||||
imageView_loopClosure\features_shown=true
|
||||
imageView_loopClosure\features_size=0
|
||||
imageView_loopClosure\graphics_view=false
|
||||
imageView_loopClosure\graphics_view_scale=true
|
||||
imageView_loopClosure\graphics_view_scale_to_height=false
|
||||
imageView_loopClosure\image_shown=true
|
||||
imageView_loopClosure\lines_shown=true
|
||||
imageView_loopClosure\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
|
||||
imageView_loopClosure\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
|
||||
imageView_odometry\alpha=200
|
||||
imageView_odometry\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
imageView_odometry\colormap=0
|
||||
imageView_odometry\depth_shown=false
|
||||
imageView_odometry\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
|
||||
imageView_odometry\features_shown=true
|
||||
imageView_odometry\features_size=0
|
||||
imageView_odometry\graphics_view=false
|
||||
imageView_odometry\graphics_view_scale=true
|
||||
imageView_odometry\graphics_view_scale_to_height=false
|
||||
imageView_odometry\image_shown=true
|
||||
imageView_odometry\lines_shown=true
|
||||
imageView_odometry\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
|
||||
imageView_odometry\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
|
||||
imageView_source\alpha=50
|
||||
imageView_source\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
imageView_source\colormap=0
|
||||
imageView_source\depth_shown=false
|
||||
imageView_source\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
|
||||
imageView_source\features_shown=true
|
||||
imageView_source\features_size=0
|
||||
imageView_source\graphics_view=false
|
||||
imageView_source\graphics_view_scale=true
|
||||
imageView_source\graphics_view_scale_to_height=false
|
||||
imageView_source\image_shown=true
|
||||
imageView_source\lines_shown=true
|
||||
imageView_source\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
|
||||
imageView_source\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
|
||||
widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
|
||||
widget_cloudViewer\camera_focal=@Variant(\0\0\0T?\x10\xdbz\xbe\f?\x86?\xda\x8c\xf5)
|
||||
widget_cloudViewer\camera_free=true
|
||||
widget_cloudViewer\camera_lockZ=true
|
||||
widget_cloudViewer\camera_ortho=false
|
||||
widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xc0M\xffz@\x95\xbe\xf1@\xb7\xae\xc3)
|
||||
widget_cloudViewer\camera_target_follow=false
|
||||
widget_cloudViewer\camera_target_locked=false
|
||||
widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0?\x80\0\0)
|
||||
widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
|
||||
widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0)
|
||||
widget_cloudViewer\frustum_shown=true
|
||||
widget_cloudViewer\grid=false
|
||||
widget_cloudViewer\grid_cell_count=50
|
||||
widget_cloudViewer\grid_cell_size=1
|
||||
widget_cloudViewer\normals=false
|
||||
widget_cloudViewer\normals_scale=0.20000000298023224
|
||||
widget_cloudViewer\normals_step=1
|
||||
widget_cloudViewer\rendering_rate=5
|
||||
widget_cloudViewer\trajectory_shown=true
|
||||
widget_cloudViewer\trajectory_size=100
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
|
||||
<arg name="frame_id" default="os1_sensor"/>
|
||||
<arg name="rtabmapviz" default="true"/>
|
||||
<arg name="scan_20_hz" default="false"/>
|
||||
<arg name="scan_20_hz" default="true"/>
|
||||
<arg name="use_sim_time" default="false"/>
|
||||
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
|
||||
|
||||
@@ -59,7 +59,7 @@
|
||||
<param name="wait_imu_to_init" type="bool" value="true"/>
|
||||
|
||||
<!-- ICP parameters -->
|
||||
<param name="Icp/PointToPlane" type="string" value="false"/>
|
||||
<param name="Icp/PointToPlane" type="string" value="true"/>
|
||||
<param name="Icp/Iterations" type="string" value="10"/>
|
||||
<param name="Icp/VoxelSize" type="string" value="0.2"/>
|
||||
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
|
||||
@@ -69,11 +69,11 @@
|
||||
<param name="Icp/MaxTranslation" type="string" value="2"/>
|
||||
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
|
||||
<param name="Icp/PM" type="string" value="true"/>
|
||||
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
|
||||
<param name="Icp/PMOutlierRatio" type="string" value="0.1"/>
|
||||
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
|
||||
|
||||
<!-- Odom parameters -->
|
||||
<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
|
||||
<param name="Odom/ScanKeyFrameThr" type="string" value="0.95"/>
|
||||
<param name="Odom/Strategy" type="string" value="0"/>
|
||||
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
|
||||
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
|
||||
@@ -109,7 +109,7 @@
|
||||
<param name="Grid/GroundIsObstacle" type="string" value="true"/>
|
||||
|
||||
<!-- ICP parameters -->
|
||||
<param name="Icp/VoxelSize" type="string" value="0.2"/>
|
||||
<param name="Icp/VoxelSize" type="string" value="0.3"/>
|
||||
<param name="Icp/PointToPlaneK" type="string" value="20"/>
|
||||
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
|
||||
<param name="Icp/PointToPlane" type="string" value="false"/>
|
||||
|
||||
@@ -59,6 +59,8 @@ public:
|
||||
OdometryROS(false, false, true),
|
||||
scanCloudMaxPoints_(0),
|
||||
scanDownsamplingStep_(1),
|
||||
scanRangeMin_(0),
|
||||
scanRangeMax_(0),
|
||||
scanVoxelSize_(0.0),
|
||||
scanNormalK_(0),
|
||||
scanNormalRadius_(0.0)
|
||||
@@ -78,8 +80,10 @@ private:
|
||||
|
||||
pnh.param("scan_cloud_max_points", scanCloudMaxPoints_, scanCloudMaxPoints_);
|
||||
pnh.param("scan_downsampling_step", scanDownsamplingStep_, scanDownsamplingStep_);
|
||||
pnh.param("scan_voxel_size", scanVoxelSize_, scanVoxelSize_);
|
||||
pnh.param("scan_normal_k", scanNormalK_, scanNormalK_);
|
||||
pnh.param("scan_range_min", scanRangeMin_, scanRangeMin_);
|
||||
pnh.param("scan_range_max", scanRangeMax_, scanRangeMax_);
|
||||
pnh.param("scan_voxel_size", scanVoxelSize_, scanVoxelSize_);
|
||||
pnh.param("scan_normal_k", scanNormalK_, scanNormalK_);
|
||||
if(pnh.hasParam("scan_cloud_normal_k") && !pnh.hasParam("scan_normal_k"))
|
||||
{
|
||||
ROS_WARN("rtabmap: Parameter \"scan_cloud_normal_k\" has been renamed to \"scan_normal_k\". "
|
||||
@@ -90,6 +94,8 @@ private:
|
||||
|
||||
NODELET_INFO("IcpOdometry: scan_cloud_max_points = %d", scanCloudMaxPoints_);
|
||||
NODELET_INFO("IcpOdometry: scan_downsampling_step = %d", scanDownsamplingStep_);
|
||||
NODELET_INFO("IcpOdometry: scan_range_min = %f m", scanRangeMin_);
|
||||
NODELET_INFO("IcpOdometry: scan_range_max = %f m", scanRangeMax_);
|
||||
NODELET_INFO("IcpOdometry: scan_voxel_size = %f m", scanVoxelSize_);
|
||||
NODELET_INFO("IcpOdometry: scan_normal_k = %d", scanNormalK_);
|
||||
NODELET_INFO("IcpOdometry: scan_normal_radius = %f m", scanNormalRadius_);
|
||||
@@ -119,7 +125,7 @@ private:
|
||||
{
|
||||
if(!pnh.hasParam("scan_downsampling_step"))
|
||||
{
|
||||
ROS_WARN("IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_downsampling_step\" for convenience. \"%s\" is set to 0.", iter->second.c_str(), iter->first.c_str(), iter->first.c_str());
|
||||
ROS_WARN("IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_downsampling_step\" for convenience. \"%s\" is set to 1.", iter->second.c_str(), iter->first.c_str(), iter->first.c_str());
|
||||
scanDownsamplingStep_ = value;
|
||||
iter->second = "1";
|
||||
}
|
||||
@@ -129,6 +135,42 @@ private:
|
||||
}
|
||||
}
|
||||
}
|
||||
iter = parameters.find(Parameters::kIcpRangeMin());
|
||||
if(iter != parameters.end())
|
||||
{
|
||||
int value = uStr2Int(iter->second);
|
||||
if(value > 1)
|
||||
{
|
||||
if(!pnh.hasParam("scan_range_min"))
|
||||
{
|
||||
ROS_WARN("IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_range_min\" for convenience. \"%s\" is set to 0.", iter->second.c_str(), iter->first.c_str(), iter->first.c_str());
|
||||
scanRangeMin_ = value;
|
||||
iter->second = "0";
|
||||
}
|
||||
else
|
||||
{
|
||||
ROS_WARN("IcpOdometry: Both parameter \"%s\" and ros parameter \"scan_range_min\" are set.", iter->first.c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
iter = parameters.find(Parameters::kIcpRangeMax());
|
||||
if(iter != parameters.end())
|
||||
{
|
||||
int value = uStr2Int(iter->second);
|
||||
if(value > 1)
|
||||
{
|
||||
if(!pnh.hasParam("scan_range_max"))
|
||||
{
|
||||
ROS_WARN("IcpOdometry: Transferring value %s of \"%s\" to ros parameter \"scan_range_max\" for convenience. \"%s\" is set to 0.", iter->second.c_str(), iter->first.c_str(), iter->first.c_str());
|
||||
scanRangeMax_ = value;
|
||||
iter->second = "0";
|
||||
}
|
||||
else
|
||||
{
|
||||
ROS_WARN("IcpOdometry: Both parameter \"%s\" and ros parameter \"scan_range_max\" are set.", iter->first.c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
iter = parameters.find(Parameters::kIcpVoxelSize());
|
||||
if(iter != parameters.end())
|
||||
{
|
||||
@@ -371,8 +413,14 @@ private:
|
||||
}
|
||||
}
|
||||
|
||||
LaserScan laserScan = LaserScan::backwardCompatibility(scan, maxLaserScans, 0, localScanTransform);
|
||||
if(scanRangeMin_ > 0 || scanRangeMax_ > 0)
|
||||
{
|
||||
laserScan = util3d::rangeFiltering(laserScan, scanRangeMin_, scanRangeMax_);
|
||||
}
|
||||
|
||||
rtabmap::SensorData data(
|
||||
LaserScan::backwardCompatibility(scan, maxLaserScans, 0, localScanTransform),
|
||||
laserScan,
|
||||
cv::Mat(),
|
||||
cv::Mat(),
|
||||
CameraModel(),
|
||||
@@ -394,6 +442,8 @@ private:
|
||||
ros::Publisher filtered_scan_pub_;
|
||||
int scanCloudMaxPoints_;
|
||||
int scanDownsamplingStep_;
|
||||
double scanRangeMin_;
|
||||
double scanRangeMax_;
|
||||
double scanVoxelSize_;
|
||||
int scanNormalK_;
|
||||
double scanNormalRadius_;
|
||||
|
||||
@@ -45,6 +45,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#include <message_filters/sync_policies/exact_time.h>
|
||||
|
||||
#include <rtabmap_ros/MsgConversion.h>
|
||||
#include <rtabmap/core/util3d.h>
|
||||
#include <rtabmap/core/util3d_filtering.h>
|
||||
|
||||
namespace rtabmap_ros
|
||||
{
|
||||
@@ -68,6 +70,8 @@ public:
|
||||
skipClouds_(0),
|
||||
cloudsSkipped_(0),
|
||||
waitForTransformDuration_(0.1),
|
||||
rangeMin_(0),
|
||||
rangeMax_(0),
|
||||
fixedFrameId_("odom")
|
||||
{}
|
||||
|
||||
@@ -96,6 +100,8 @@ private:
|
||||
pnh.param("max_clouds", maxClouds_, maxClouds_);
|
||||
pnh.param("skip_clouds", skipClouds_, skipClouds_);
|
||||
pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
|
||||
pnh.param("range_min", rangeMin_, rangeMin_);
|
||||
pnh.param("range_max", rangeMax_, rangeMax_);
|
||||
ROS_ASSERT(maxClouds_>0);
|
||||
|
||||
cloudsSkipped_ = skipClouds_;
|
||||
@@ -179,12 +185,24 @@ private:
|
||||
return;
|
||||
}
|
||||
|
||||
sensor_msgs::PointCloud2 output;
|
||||
pcl_ros::transformPointCloud(t.toEigen4f(), *clouds_[i], output);
|
||||
pcl::PCLPointCloud2 output2;
|
||||
pcl_conversions::toPCL(output, output2);
|
||||
pcl::PCLPointCloud2Ptr assembledTmp(new pcl::PCLPointCloud2);
|
||||
pcl::concatenatePointCloud(*assembled, output2, *assembledTmp);
|
||||
if(rangeMin_ > 0.0 || rangeMax_ > 0.0)
|
||||
{
|
||||
pcl::PCLPointCloud2 output2;
|
||||
pcl_conversions::toPCL(*clouds_[i], output2);
|
||||
rtabmap::LaserScan scan = rtabmap::util3d::laserScanFromPointCloud(output2);
|
||||
scan = rtabmap::util3d::rangeFiltering(scan, rangeMin_, rangeMax_);
|
||||
pcl::concatenatePointCloud(*assembled, *rtabmap::util3d::laserScanToPointCloud2(scan, t), *assembledTmp);
|
||||
}
|
||||
else
|
||||
{
|
||||
sensor_msgs::PointCloud2 output;
|
||||
pcl_ros::transformPointCloud(t.toEigen4f(), *clouds_[i], output);
|
||||
pcl::PCLPointCloud2 output2;
|
||||
pcl_conversions::toPCL(output, output2);
|
||||
pcl::concatenatePointCloud(*assembled, output2, *assembledTmp);
|
||||
}
|
||||
|
||||
assembled = assembledTmp;
|
||||
}
|
||||
|
||||
@@ -235,6 +253,8 @@ private:
|
||||
int skipClouds_;
|
||||
int cloudsSkipped_;
|
||||
double waitForTransformDuration_;
|
||||
double rangeMin_;
|
||||
double rangeMax_;
|
||||
std::string fixedFrameId_;
|
||||
tf::TransformListener tfListener_;
|
||||
|
||||
|
||||
Reference in New Issue
Block a user