X-lanni
47 lines
1.1 KiB
INI
47 lines
1.1 KiB
INI
# 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 = 0.5
|
|
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 = 0.05
|
|
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 = 0.05
|
|
RGBD\AngularUpdate = 0.05
|
|
RGBD\LinearUpdate = 0.05
|
|
RGBD\ProximityMaxGraphDepth = 0
|
|
RGBD\ProximityPathMaxNeighbors = 1
|
|
Reg\Strategy = 1
|