50 lines
1.7 KiB
YAML
50 lines
1.7 KiB
YAML
dataset:
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dataroot: "/home/zheng/datasets/loopclosure/"
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camera_config: "/home/zheng/datasets/loopclosure/camera.yaml"
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image_dir_name: ""
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correlation_flow:
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width: 448
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height: 448
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rotation_divisor: 720 #720 # Higher means higher resolution, but slower
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rotation_channel: 480 #480 # Lower means faster. Too lower, e.g., less than 10, may produce error about 1/rotation_divisor*360 degrees. 64 may work well.
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lambda: 0.1 # For regularization
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kernel: 0 #1 # {0: "polynomial", 1: "gaussian"}
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polynomial: # (X^T Y + offset).pow(power)
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offset: 0.1
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power: 3
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gaussian: # exp(-(|X-Y|^2/(2*sigma^2)))
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sigma: 0.2 # For Gaussian Kernel
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keyframe_selection:
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to_find_loop: true
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max_distance: 0.2 # in normalized plane, real size equal max_distance*camera_height
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max_angle: 0.5 # rad
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lower_response_thr: 30
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upper_response_thr: 60
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map:
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grid_scale: 0.1 # the true size of one grid
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loop_closure:
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to_find_loop: true
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position_response_thr: 60 # this should be tuned together with width and height: higher width*height -> higher threshold
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angle_response_thr: 60 # this should be tuned together with rotation_divisor and rotation_channel: higher divisor*channel -> higher threshold
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frame_gap_thr: 100
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distance_thr: 5 # in normalized plane, real size equal distance_thr*camera_height
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map_sticther:
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stitch_map: true # whether to stitch map
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cell_size: 1000
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visualization:
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frame_id: "map"
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topic:
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image: /kcc_slam/undistort_image
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kcc_pose: "/kcc_slam/kcc_pose"
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frame_pose: "/kcc_slam/frame_pose"
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map: "/kcc_slam/occupancy_map"
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saving:
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save_pose: true
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saving_root: "/home/zheng/projects/ros_ws/src/kcc_slam/saving/experiments" |