kth-rpl--dufomap
wehub-resource-sync
41 行
1.6 KiB
TOML
41 行
1.6 KiB
TOML
|
|
[important]
|
|
resolution = 0.1 # voxel size (meters), v in the paper, default 0.1
|
|
inflate_unknown = 1 # d_p in the paper, default 1
|
|
inflate_hits_dist = 0.2 # d_s in the paper, default 0.2
|
|
|
|
|
|
# ----------- No need to modify if you are not professional dufoer or ufoer.
|
|
# ----------- Deeper Parameter for debugging potential better result --------
|
|
|
|
[integration]
|
|
inflate_unknown_compensation = true
|
|
ray_passthrough_hits = false
|
|
down_sampling_method = "center" # ["none", "center", "centroid", "uniform"]
|
|
min_range = 0.2 # For filter out the ego points (some SLAM algorithm will include a pose point etc.
|
|
max_range = -1 # Maximum range to integrate
|
|
only_valid = false # Only do ray casting for points within 'max_range'
|
|
hit_depth = 0 # Level of the octree to integrate hits
|
|
miss_depth = 0 # Level of the octree to integrate misses
|
|
ray_casting_depth = 0 # Level of the octree to perform ray casting
|
|
simple_ray_casting = false
|
|
simple_ray_casting_factor = 1.0
|
|
parallel = true # Use parallel execution for integration
|
|
num_threads = 0 # Number of threads to use, 8 times number of physical cores seems to be a good number and it is chosen if 0 is given
|
|
|
|
[map]
|
|
levels = 20 # Levels of the octree
|
|
|
|
[dataset]
|
|
first = 0 # First pcd index
|
|
last = -1 # Last pcd index (-1 equals all)
|
|
num = -1 # Number of pcd files to read (-1 equals all)
|
|
|
|
[printing]
|
|
verbose = false
|
|
debug = false
|
|
|
|
[output]
|
|
filename = "dufomap_output"
|
|
raycasting = false
|