feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,31 @@
+# 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