-
Notifications
You must be signed in to change notification settings - Fork 44
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge pull request #75 from ETHZ-RobotX/fix/slam_tutorial
The launch files for tutorials
- Loading branch information
Showing
13 changed files
with
488 additions
and
225 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
236 changes: 122 additions & 114 deletions
236
smb_slam/config/open3d_slam/default/parameter_structure_definitions.lua
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,174 +1,182 @@ | ||
| -- need this to deep copy all the tables | ||
| function deepcopy(orig, copies) | ||
| copies = copies or {} | ||
| local orig_type = type(orig) | ||
| local copy | ||
| if orig_type == 'table' then | ||
| if copies[orig] then | ||
| copy = copies[orig] | ||
| else | ||
| copy = {} | ||
| copies[orig] = copy | ||
| for orig_key, orig_value in next, orig, nil do | ||
| copy[deepcopy(orig_key, copies)] = deepcopy(orig_value, copies) | ||
| end | ||
| setmetatable(copy, deepcopy(getmetatable(orig), copies)) | ||
| end | ||
| else -- number, string, boolean, etc | ||
| copy = orig | ||
| end | ||
| return copy | ||
| copies = copies or {} | ||
| local orig_type = type(orig) | ||
| local copy | ||
| if orig_type == 'table' then | ||
| if copies[orig] then | ||
| copy = copies[orig] | ||
| else | ||
| copy = {} | ||
| copies[orig] = copy | ||
| for orig_key, orig_value in next, orig, nil do | ||
| copy[deepcopy(orig_key, copies)] = deepcopy(orig_value, copies) | ||
| end | ||
| setmetatable(copy, deepcopy(getmetatable(orig), copies)) | ||
| end | ||
| else -- number, string, boolean, etc | ||
| copy = orig | ||
| end | ||
| return copy | ||
| end | ||
|
|
||
|
|
||
|
|
||
| SAVING_PARAMETERS = { | ||
| save_at_mission_end = true, | ||
| save_map = false, | ||
| save_submaps = false, | ||
| save_dense_submaps = false, | ||
| save_at_mission_end = true, | ||
| save_map = true, | ||
| save_submaps = false, | ||
| save_dense_submaps = true, | ||
| } | ||
|
|
||
| MOTION_COMPENSATION_PARAMETERS = { | ||
| is_undistort_scan = false, | ||
| is_spinning_clockwise = true, | ||
| scan_duration = 0.1, | ||
| num_poses_vel_estimation = 3, | ||
| is_undistort_scan = false, | ||
| is_spinning_clockwise = true, | ||
| scan_duration = 0.1, | ||
| num_poses_vel_estimation = 3, | ||
| } | ||
|
|
||
| VISUALIZATION_PARAMETERS = { | ||
| assembled_map_voxel_size = 0.3, | ||
| submaps_voxel_size = 0.3, | ||
| visualize_every_n_msec = 300.0, | ||
| assembled_map_voxel_size = 0.05, | ||
| submaps_voxel_size = 0.05, | ||
| visualize_every_n_msec = 500.0, | ||
| } | ||
|
|
||
| GLOBAL_OPTIMIZATION_PARAMETERS = { | ||
| edge_prune_threshold = 0.2, | ||
| loop_closure_preference = 2.0, | ||
| max_correspondence_distance = 1000.0, | ||
| reference_node = 0, | ||
| edge_prune_threshold = 0.2, | ||
| loop_closure_preference = 2.0, | ||
| max_correspondence_distance = 1000.0, | ||
| reference_node = 0, | ||
| } | ||
|
|
||
| SCAN_CROPPING_PARAMETERS = { | ||
| cropping_radius_max= 30.0, | ||
| cropping_radius_min= 2.0, | ||
| min_z= -50.0, | ||
| max_z= 50.0, | ||
| cropper_type= "MinMaxRadius", -- options are Cylinder, MaxRadius, MinRadius, MinMaxRadius | ||
| cropping_radius_max= 100.0, | ||
| cropping_radius_min= 2.0, | ||
| min_z= -50.0, | ||
| max_z= 50.0, | ||
| cropper_type= "MinMaxRadius", -- options are Cylinder, MaxRadius, MinRadius, MinMaxRadius | ||
| } | ||
|
|
||
| SCAN_PROCESSING_PARAMETERS = { | ||
| voxel_size = 0.1, | ||
| downsampling_ratio = 0.3, | ||
| point_cloud_buffer_size = 1, -- the scan processing buffer size. 1 means no buffering. | ||
| scan_cropping = deepcopy(SCAN_CROPPING_PARAMETERS), | ||
| voxel_size = 0.01, | ||
| downsampling_ratio = 1.0, | ||
| point_cloud_buffer_size = 1, -- the scan processing buffer size. 1 means no buffering. | ||
| scan_cropping = deepcopy(SCAN_CROPPING_PARAMETERS), | ||
| } | ||
|
|
||
| ICP_PARAMETERS = { | ||
| max_correspondence_dist= 1.0, | ||
| knn= 20, | ||
| max_distance_knn= 3.0, | ||
| max_n_iter= 50, | ||
| max_correspondence_dist= 1.0, | ||
| knn= 10, | ||
| max_distance_knn= 1.0, | ||
| max_n_iter= 30, | ||
| reference_cloud_seting_period= 1.0, | ||
| } | ||
|
|
||
| SCAN_MATCHING_PARAMETERS = { | ||
| icp = deepcopy(ICP_PARAMETERS), | ||
| cloud_registration_type = "GeneralizedIcp", -- options GeneralizedIcp, PointToPointIcp, PointToPlaneIcp | ||
| icp = deepcopy(ICP_PARAMETERS), | ||
| cloud_registration_type = "GeneralizedIcp", -- options GeneralizedIcp, PointToPointIcp, PointToPlaneIcp | ||
| } | ||
|
|
||
| ODOMETRY_PARAMETERS = { | ||
| is_publish_odometry_msgs = true, | ||
| odometry_buffer_size = 1, -- the scan2scan odometry buffer size. 1 means no buffering. | ||
| scan_matching = deepcopy(SCAN_MATCHING_PARAMETERS), | ||
| scan_processing = deepcopy(SCAN_PROCESSING_PARAMETERS), | ||
| use_odometry_topic_instead_of_scan_to_scan = true, | ||
| use_IMU_for_attitude_initialization = false, | ||
| is_publish_odometry_msgs = true, | ||
| odometry_buffer_size = 1, -- the scan2scan odometry buffer size. 1 means no buffering. | ||
| scan_matching = deepcopy(SCAN_MATCHING_PARAMETERS), | ||
| scan_processing = deepcopy(SCAN_PROCESSING_PARAMETERS), | ||
| } | ||
|
|
||
| SUBMAP_PARAMETERS = { | ||
| submap_size = 20, -- meters | ||
| min_num_range_data = 10, | ||
| adjacency_based_revisiting_min_fitness = 0.5, | ||
| submaps_num_scan_overlap = 10, | ||
| submap_size = 20, -- meters | ||
| min_num_range_data = 10, | ||
| adjacency_based_revisiting_min_fitness = 0.5, | ||
| min_seconds_between_feature_computation = 5.0, | ||
| submaps_num_scan_overlap = 10, | ||
| } | ||
|
|
||
| SPACE_CARVING_PARAMETERS = { | ||
| voxel_size= 0.2, | ||
| max_raytracing_length = 20.0, | ||
| truncation_distance = 0.3, | ||
| carve_space_every_n_scans= 10.0, | ||
| voxel_size= 0.2, | ||
| max_raytracing_length = 20.0, | ||
| truncation_distance = 0.3, | ||
| carve_space_every_n_scans= 10.0, | ||
| min_dot_product_with_normal = 0.5, | ||
| neigborhood_radius_for_removal= 0.1, | ||
| } | ||
|
|
||
|
|
||
| MAP_BUILDER_PARAMETERS = { | ||
| map_voxel_size = 0.1, --meters | ||
| scan_cropping = deepcopy(SCAN_CROPPING_PARAMETERS), | ||
| space_carving = deepcopy(SPACE_CARVING_PARAMETERS), | ||
| map_voxel_size = 0.05, --meters | ||
| scan_cropping = deepcopy(SCAN_CROPPING_PARAMETERS), | ||
| space_carving = deepcopy(SPACE_CARVING_PARAMETERS), | ||
| } | ||
|
|
||
| SCAN_TO_MAP_REGISTRATION_PARAMETERS = { | ||
| min_refinement_fitness = 0.7, | ||
| scan_to_map_refinement_type = "GeneralizedIcp", -- options GeneralizedIcp, PointToPointIcp, PointToPlaneIcp | ||
| icp = deepcopy(ICP_PARAMETERS), | ||
| scan_processing = deepcopy(SCAN_PROCESSING_PARAMETERS), | ||
| min_refinement_fitness = 0.7, | ||
| scan_to_map_refinement_type = "GeneralizedIcp", -- options GeneralizedIcp, PointToPointIcp, PointToPlaneIcp | ||
| icp = deepcopy(ICP_PARAMETERS), | ||
| scan_processing = deepcopy(SCAN_PROCESSING_PARAMETERS), | ||
| } | ||
|
|
||
|
|
||
| MAPPER_LOCALIZER_PARAMETERS = { | ||
| is_print_timing_information = true, | ||
| is_build_dense_map = false, | ||
| is_attempt_loop_closures = true, | ||
| is_use_map_initialization = false, | ||
| is_merge_scans_into_map = false, | ||
| dump_submaps_to_file_before_after_lc = false, | ||
| is_refine_odometry_constraints_between_submaps = false, | ||
| min_movement_between_mapping_steps = 0.0, | ||
| ignore_minimum_refinement_fitness = false, | ||
| mapping_buffer_size = 1, -- the scan2map odometry buffer size. 1 means no buffering. | ||
| scan_to_map_registration = deepcopy(SCAN_TO_MAP_REGISTRATION_PARAMETERS), | ||
| is_print_timing_information = true, | ||
| is_carving_enabled = false, | ||
| is_build_dense_map = false, | ||
| is_attempt_loop_closures = false, | ||
| is_use_map_initialization = false, | ||
| republish_the_preloaded_map = true, | ||
| map_merge_delay_in_seconds = 10.0, | ||
| is_merge_scans_into_map = false, | ||
| dump_submaps_to_file_before_after_lc = false, | ||
| is_refine_odometry_constraints_between_submaps = false, | ||
| min_movement_between_mapping_steps = 0.0, | ||
| ignore_minimum_refinement_fitness = false, | ||
| mapping_buffer_size = 1, -- the scan2map odometry buffer size. 1 means no buffering. | ||
| scan_to_map_registration = deepcopy(SCAN_TO_MAP_REGISTRATION_PARAMETERS), | ||
| } | ||
|
|
||
| POSE = { | ||
| x = 0.0, | ||
| y = 0.0, | ||
| z = 0.0, | ||
| roll = 0.0, --roll, pitch ,yaw in degrees!!!!! | ||
| pitch = 0.0, | ||
| yaw = 0.0, | ||
| x = 0.0, | ||
| y = 0.0, | ||
| z = 0.0, | ||
| roll = 0.0, --roll, pitch ,yaw in degrees!!!!! | ||
| pitch = 0.0, | ||
| yaw = 0.0, | ||
| } | ||
|
|
||
| MAP_INITIALIZER_PARAMETERS = { | ||
| is_initialize_interactively = false, | ||
| frame_id = "map_o3d", | ||
| pcd_file_path = "", | ||
| init_pose = POSE, | ||
| is_initialize_interactively = false, | ||
| frame_id = "map_o3d", | ||
| pcd_file_path = "", | ||
| pcd_file_package = "", | ||
| init_pose = POSE, | ||
| } | ||
|
|
||
| LOOP_CLOSURE_CONSISTENCY_CHECK_PARAMETERS = { | ||
| max_drift_roll = 30.0, --deg | ||
| max_drift_pitch = 30.0, --deg | ||
| max_drift_yaw = 30.0, --deg | ||
| max_drift_x = 80.0, --meters | ||
| max_drift_y = 80.0, --meters | ||
| max_drift_z = 40.0, --meters | ||
| max_drift_roll = 30.0, --deg | ||
| max_drift_pitch = 30.0, --deg | ||
| max_drift_yaw = 30.0, --deg | ||
| max_drift_x = 80.0, --meters | ||
| max_drift_y = 80.0, --meters | ||
| max_drift_z = 40.0, --meters | ||
| } | ||
|
|
||
| PLACE_RECOGNITION_PARAMETERS = { | ||
| feature_map_normal_estimation_radius = 2.0, | ||
| feature_voxel_size = 0.5, | ||
| feature_radius = 2.5, | ||
| feature_knn = 100, | ||
| feature_normal_knn = 20, | ||
| ransac_num_iter = 10000000, | ||
| ransac_probability = 0.999, | ||
| ransac_model_size = 3, | ||
| ransac_max_correspondence_dist = 0.75, | ||
| ransac_correspondence_checker_distance = 0.8, | ||
| ransac_correspondence_checker_edge_length = 0.6, | ||
| ransac_min_corresondence_set_size = 25, | ||
| max_icp_correspondence_distance = 0.3, | ||
| min_icp_refinement_fitness = 0.7, -- the more aliasing, the higher this should be | ||
| dump_aligned_place_recognitions_to_file = false , --useful for debugging | ||
| min_submaps_between_loop_closures = 2, | ||
| loop_closure_search_radius = 20.0, | ||
| consistency_check = deepcopy(LOOP_CLOSURE_CONSISTENCY_CHECK_PARAMETERS), | ||
| feature_map_normal_estimation_radius = 2.0, | ||
| feature_voxel_size = 0.5, | ||
| feature_radius = 2.5, | ||
| feature_knn = 100, | ||
| feature_normal_knn = 20, | ||
| ransac_num_iter = 10000000, | ||
| ransac_probability = 0.999, | ||
| ransac_model_size = 3, | ||
| ransac_max_correspondence_dist = 0.75, | ||
| ransac_correspondence_checker_distance = 0.8, | ||
| ransac_correspondence_checker_edge_length = 0.6, | ||
| ransac_min_corresondence_set_size = 25, | ||
| max_icp_correspondence_distance = 0.3, | ||
| min_icp_refinement_fitness = 0.7, -- the more aliasing, the higher this should be | ||
| dump_aligned_place_recognitions_to_file = false , --useful for debugging | ||
| min_submaps_between_loop_closures = 2, | ||
| loop_closure_search_radius = 20.0, | ||
| consistency_check = deepcopy(LOOP_CLOSURE_CONSISTENCY_CHECK_PARAMETERS), | ||
| } | ||
|
|
Oops, something went wrong.