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| 1 | +-- Copyright (c) 2017, United States Government, as represented by the |
| 2 | +-- Administrator of the National Aeronautics and Space Administration. |
| 3 | +-- |
| 4 | +-- All rights reserved. |
| 5 | +-- |
| 6 | +-- The Astrobee platform is licensed under the Apache License, Version 2.0 |
| 7 | +-- (the "License"); you may not use this file except in compliance with the |
| 8 | +-- License. You may obtain a copy of the License at |
| 9 | +-- |
| 10 | +-- http://www.apache.org/licenses/LICENSE-2.0 |
| 11 | +-- |
| 12 | +-- Unless required by applicable law or agreed to in writing, software |
| 13 | +-- distributed under the License is distributed on an "AS IS" BASIS, WITHOUT |
| 14 | +-- WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the |
| 15 | +-- License for the specific language governing permissions and limitations |
| 16 | +-- under the License. |
| 17 | + |
| 18 | +require "context" |
| 19 | + |
| 20 | +-- Max time diff between successive depth measurements |
| 21 | +max_time_diff = 10 |
| 22 | + |
| 23 | +-- Max time diff for correlating image and point cloud measurements to create a depth measurement |
| 24 | +-- This ideally have the same timestamp but sometimes vary slightly even though they are from |
| 25 | +-- the same measurement |
| 26 | +max_image_and_point_cloud_time_diff = 0.05 |
| 27 | + |
| 28 | +-- Covariance thresholds for rejecting relative odometry result |
| 29 | +position_covariance_threshold = 100 |
| 30 | +orientation_covariance_threshold = 100 |
| 31 | + |
| 32 | +-- icp or image_feature |
| 33 | +depth_odometry_method = "image_feature" |
| 34 | + |
| 35 | +-- ICP options |
| 36 | + |
| 37 | +-- Search radius for each point in ICP |
| 38 | +search_radius = 0.04 |
| 39 | + |
| 40 | +symmetric_objective = true |
| 41 | +-- Only applicable for symmetric objective |
| 42 | +enforce_same_direction_normals = true |
| 43 | + |
| 44 | +-- ICP fitness score threshold for rejecting ICP result |
| 45 | +fitness_threshold = 1 |
| 46 | +max_iterations = 10 |
| 47 | + |
| 48 | +-- Use RANSAC AI algorithm to compute initial estimate |
| 49 | +inital_estimate_with_ransac_ia = false |
| 50 | + |
| 51 | +correspondence_rejector_surface_normal = true |
| 52 | +-- Threshold for cos(theta) where theta is the angle between two normals. Range from [0,1] |
| 53 | +-- The closer to 1, the more aligned the normals are |
| 54 | +correspondence_rejector_surface_normal_threshold = 0.75 |
| 55 | + |
| 56 | + |
| 57 | +-- Downsample options |
| 58 | +downsample = true |
| 59 | +downsample_leaf_size = 0.02 |
| 60 | + |
| 61 | +-- coarse to fine options for ICP |
| 62 | +coarse_to_fine = false |
| 63 | +num_coarse_to_fine_levels = 1 |
| 64 | +coarse_to_fine_downsample_ratio = 0.5 |
| 65 | +-- Final (smallest) leaf size |
| 66 | +coarse_to_fine_final_leaf_size = 0.02 |
| 67 | +downsample_last_coarse_to_fine_iteration = true |
| 68 | + |
| 69 | +-- Depth image aligner options |
| 70 | + |
| 71 | +-- brisk, surf, lk_optical_flow |
| 72 | +detector = "lk_optical_flow" |
| 73 | +-- Brisk detector options |
| 74 | +brisk_threshold = 120 |
| 75 | +brisk_octaves = 4 |
| 76 | +brisk_float_pattern_scale = 1 |
| 77 | +-- Brisk matching options |
| 78 | +brisk_max_match_hamming_distance = 100 |
| 79 | +brisk_flann_table_number = 3 |
| 80 | +brisk_flann_key_size = 18 |
| 81 | +brisk_flann_multi_probe_level = 2 |
| 82 | +-- Surf options |
| 83 | +surf_threshold = 1000 |
| 84 | +surf_max_match_distance = 0.25 |
| 85 | +-- LK optical flow options |
| 86 | +lk_max_iterations = 10 |
| 87 | +lk_termination_epsilon = 0.03 |
| 88 | +lk_window_width = 10 |
| 89 | +lk_window_height = 10 |
| 90 | +lk_max_level = 3 |
| 91 | +lk_min_eigen_threshold = 0.2 |
| 92 | +lk_max_flow_distance = 50 |
| 93 | +lk_max_backward_match_distance = 0.1 |
| 94 | +-- Good features to track options |
| 95 | +lk_max_corners = 100 |
| 96 | +lk_quality_level = 0.01 |
| 97 | +lk_min_distance = 10 |
| 98 | +lk_block_size = 5 |
| 99 | +lk_use_harris_detector = false |
| 100 | +lk_k = 0.04 |
| 101 | + |
| 102 | +-- CLAHE histogram equalization options |
| 103 | +use_clahe = true |
| 104 | +clahe_grid_length = 8 |
| 105 | +clahe_clip_limit = 40 |
| 106 | +-- Other |
| 107 | +min_x_distance_to_border = 10 |
| 108 | +min_y_distance_to_border = 10 |
| 109 | +min_num_inliers = 5 |
| 110 | + |
| 111 | +-- Point cloud with known correspondences aligner |
| 112 | +pcwkca_max_num_iterations = 100 |
| 113 | +pcwkca_function_tolerance = 1e-6 |
| 114 | +pcwkca_max_num_match_sets = 10000000 |
| 115 | +pcwkca_normal_search_radius = 0.03 |
| 116 | +pcwkca_use_umeyama_initial_guess = false |
| 117 | +pcwkca_use_single_iteration_umeyama = false |
| 118 | +pcwkca_use_point_to_plane_cost = false |
| 119 | +pcwkca_use_symmetric_point_to_plane_cost = false |
| 120 | +pcwkca_verbose_optimization = false |
| 121 | + |
| 122 | +publish_point_clouds = false |
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