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Updated demo_husky.launch (default voxel size and normal K)

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matlabbe
2022-02-01 18:40:09 -05:00
parent a030297e0d
commit 452be2cc61
1 changed files with 27 additions and 3 deletions
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launch/demo/demo_husky.launch
+27 -3
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@@ -62,11 +62,35 @@
<arg name="depth_from_lidar" default="false"/>
<arg if="$(arg lidar3d)" name="cell_size" default="0.2"/>
<arg if="$(arg lidar3d)" name="cell_size" default="0.3"/>
<arg unless="$(arg lidar3d)" name="cell_size" default="0.05"/>
<arg if="$(arg lidar2d)" name="lidar_args" default="--Reg/Strategy 1 --RGBD/NeighborLinkRefining true --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0"/>
<arg if="$(arg lidar3d)" name="lidar_args" default="--Reg/Strategy 1 --RGBD/NeighborLinkRefining true --ICP/PM true --Icp/PMOutlierRatio 0.7 --Icp/VoxelSize $(arg cell_size) --Icp/MaxCorrespondenceDistance 1 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/Iterations 10 --Icp/Epsilon 0.001 --OdomF2M/ScanSubtractRadius $(arg cell_size) --OdomF2M/ScanMaxSize 15000 --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0"/>
<arg if="$(arg lidar2d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/MaxTranslation 1"/>
<arg if="$(arg lidar3d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--ICP/PM true
--Icp/PMOutlierRatio 0.7
--Icp/VoxelSize $(arg cell_size)
--Icp/MaxCorrespondenceDistance 1
--Icp/PointToPlaneGroundNormalsUp 0.9
--Icp/Iterations 10
--Icp/Epsilon 0.001
--OdomF2M/ScanSubtractRadius $(arg cell_size)
--OdomF2M/ScanMaxSize 15000
--Grid/ClusterRadius 1
--Grid/RangeMax 20
--Grid/RayTracing $(arg lidar3d_ray_tracing)
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/PointToPlaneNormalK 10
--Icp/MaxTranslation 1"/>
<!--- Run rtabmap -->
<remap from="/rtabmap/grid_map" to="/map"/>