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share/mrpt/config_files/icp-slam/icp-slam_demo_voxelmap.ini
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| #------------------------------------------------------------ | ||
| # Config file for the "ICP-SLAM" application | ||
| # See: https://www.mrpt.org/list-of-mrpt-apps/application-icp-slam/ | ||
| #------------------------------------------------------------ | ||
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| #======================================================= | ||
| # Section: [ICP] | ||
| # Parameters of ICP inside the ICP-based SLAM class | ||
| #======================================================= | ||
| [ICP] | ||
| maxIterations = 80 // The maximum number of iterations to execute if convergence is not achieved before | ||
| minAbsStep_trans = 1e-6 // If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated: | ||
| minAbsStep_rot = 1e-6 // If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated: | ||
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| thresholdDist = 0.3 // Initial maximum distance for matching a pair of points | ||
| thresholdAng_DEG = 5 // An angular factor (in degrees) to increase the matching distance for distant points. | ||
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| ALFA = 0.8 // After convergence, the thresholds are multiplied by this constant and ICP keep running (provides finer matching) | ||
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| smallestThresholdDist=0.05 // This is the smallest the distance threshold can become after stopping ICP and accepting the result. | ||
| onlyClosestCorrespondences=true // 1: Use the closest points only, 0: Use all the correspondences within the threshold (more robust sometimes, but slower) | ||
| onlyUniqueRobust = true // Force unique correspondences in both directions when pairing two point clouds | ||
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| # 0: icpClassic | ||
| # 1: icpLevenbergMarquardt | ||
| ICP_algorithm = icpClassic | ||
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| # decimation to apply to the point cloud being registered against the map | ||
| # Reduce to "1" to obtain the best accuracy | ||
| corresponding_points_decimation = 5 | ||
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| #======================================================= | ||
| # Section: [MappingApplication] | ||
| # Use: Here comes global parameters for the app. | ||
| #======================================================= | ||
| [MappingApplication] | ||
| # The source file (RAW-LOG) with action/observation pairs | ||
| rawlog_file="../../datasets/2006-01ENE-21-SENA_Telecom Faculty_one_loop_only.rawlog" | ||
| rawlog_offset=0 | ||
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| # The directory where the log files will be saved (left in blank if no log is required) | ||
| logOutput_dir=LOG_ICP-SLAM | ||
| LOG_FREQUENCY=50 // The frequency of log files generation: | ||
| SAVE_3D_SCENE=1 | ||
| SAVE_POSE_LOG=0 | ||
| CAMERA_3DSCENE_FOLLOWS_ROBOT=1 | ||
| SHOW_PROGRESS_3D_REAL_TIME=1 | ||
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| SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS=5 | ||
| SHOW_LASER_SCANS_3D = true | ||
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| localizationLinDistance = 0.10 // The distance threshold for correcting odometry with ICP (meters) | ||
| localizationAngDistance = 5 // The distance threshold for correcting odometry with ICP (degrees) | ||
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| insertionLinDistance = 1.0 // The distance threshold for inserting observations in the map (meters) | ||
| insertionAngDistance = 15.0 // The distance threshold for inserting observations in the map (degrees) | ||
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| minICPgoodnessToAccept = 0.20 // Minimum ICP quality to accept correction [0,1]. | ||
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| matchAgainstTheGrid = false | ||
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| # ======================================================== | ||
| # MULTIMETRIC MAP CONFIGURATION | ||
| # See docs for (Google for) mrpt::maps::CMultiMetricMap | ||
| # ======================================================== | ||
| # Creation of maps: | ||
| voxelMap_count = 1 | ||
| pointsMap_count = 1 | ||
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| # ==================================================== | ||
| # MULTIMETRIC MAP: PointsMap #00 | ||
| # ==================================================== | ||
| # Creation Options for PointsMap 00: | ||
| [MappingApplication_pointsMap_00_insertOpts] | ||
| minDistBetweenLaserPoints = 0.04 | ||
| fuseWithExisting = false | ||
| isPlanarMap = true | ||
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| # ==================================================== | ||
| # MULTIMETRIC MAP: VoxelMap #00 | ||
| # ==================================================== | ||
| # Creation Options for VoxelMap #00: | ||
| [MappingApplication_voxelMap_00_creationOpts] | ||
| resolution = 0.05 // (meters) | ||
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| # Insertion Options for VoxelMap #00: | ||
| [MappingApplication_voxelMap_00_insertOpts] | ||
| max_range = -1 // (Default=-1, no limits) | ||
| prob_hit = 0.7 // sets the probablility for a "hit" (will be converted to logodds) - sensor model | ||
| prob_miss = 0.4 // sets the probablility for a "miss" (will be converted to logodds) - sensor model | ||
| clamp_min = 0.05 // sets the minimum threshold for occupancy clamping (sensor model) | ||
| clamp_max = 0.95 // sets the maximum threshold for occupancy clamping (sensor model) | ||
| ray_trace_free_space = false | ||
| decimation = 1 | ||
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| # Likelihood Options for VoxelMap #00: | ||
| [MappingApplication_voxelMap_00_likelihoodOpts] | ||
| # None | ||
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