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voxgraph_mapper.yaml
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voxgraph_mapper.yaml
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verbose: false
debug: true
auto_pause_rosbag: false
submap_creation_interval: 10
subscriber_queue_length: 10
input_odom_frame: "odom"
input_base_link_frame: "imu"
output_mission_frame: "mission"
output_odom_frame: "odom"
output_base_link_frame: "imu"
output_sensor_frame: "sensor_voxgraph"
# T_base_sensor:
# - [-0.9908275, -0.0196803, 0.1336922, -0.024]
# - [ 0.0202159, -0.9997921, 0.0026504, -0.011]
# - [ 0.1336122, 0.0053288, 0.9910194, -0.131]
# - [ 0.0, 0.0, 0.0, 1.0]
tsdf_integrator:
tsdf_voxel_size: 0.20
truncation_distance: 0.60
max_ray_length_m: 16.0
use_const_weight: true
use_weight_dropoff: true
use_sparsity_compensation_factor: true
sparsity_compensation_factor: 20.0
# integration_order_mode: "sorted"
measurements:
submap_registration:
enabled: true
sampling_ratio: 0.05
registration_method: "explicit_to_implicit"
information_matrix:
x_x: 1.0
y_y: 1.0
z_z: 1.0
yaw_yaw: 1.0
odometry:
enabled: true
information_matrix:
x_x: 1.0
y_y: 1.0
z_z: 2500.0
yaw_yaw: 2500.0
height:
enabled: false
information_zz: 2500.0
mesh_use_color: false