FR2Desk2.yaml

# MIT License
#
# # Copyright (c) 2022 Saurabh Gupta, Ignacio Vizzo, Cyrill Stachniss, University of Bonn
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.

# VDBFUSION
voxel_size: 0.01
sdf_trunc: 0.07
space_carving: True

# Triangle Mesh Generation
fill_holes: True
min_weight: 3.0

# PointCloud
apply_pose: True
preprocess: True
min_range: 1.0
max_range: 10.0
pcl_topic: "/camera/rgb/points"

# Transform
use_tf_transforms: true
parent_frame: "world"
child_frame: "openni_rgb_optical_frame"
timestamp_tolerance_ns: 1000