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Add config files for different datasets used in the evaluation
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| { | ||
| "imu": { | ||
| "bufferSize": 100, | ||
| "filterSize": 20 | ||
| }, | ||
|
|
||
| "lidar": { | ||
| "bufferSize": 1, | ||
| "port": 2368, | ||
| "pointScale": 0.1, | ||
| "rings": 64, | ||
| "vertical_fov_angle": 26.9 | ||
| }, | ||
|
|
||
| "registration": { | ||
| "max_iterations": 1000, | ||
| "it_weight_gradient": 0.0, | ||
| "epsilon": 0.005 | ||
| }, | ||
|
|
||
| "gpio": { | ||
| "button_chip": "gpiochip0", | ||
| "button_line": 0, | ||
| "led_chip": "gpiochip1", | ||
| "led_line": 0 | ||
| }, | ||
|
|
||
| "bridge": { | ||
| "use_from": true, | ||
| "use_to": true, | ||
|
|
||
| "send_original": false, | ||
| "send_preprocessed": true, | ||
| "send_after_registration": false, | ||
|
|
||
| "host_from": "192.168.1.245", | ||
|
|
||
| "imu_port_from": 4444, | ||
| "imu_port_to": 5555, | ||
|
|
||
| "pcl_port_from": 3333, | ||
| "pcl_port_to": 7777, | ||
|
|
||
| "transform_port_to": 8888, | ||
| "tsdf_port_to": 6666 | ||
| }, | ||
|
|
||
| "slam": { | ||
| "max_distance": 300, | ||
| "map_size_x": 401, | ||
| "map_size_y": 401, | ||
| "map_size_z": 59, | ||
| "max_weight": 10, | ||
| "initial_map_weight": 0.0, | ||
| "map_update_period": 500, | ||
| "map_update_position_threshold": 500, | ||
| "map_path": "/data" | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| { | ||
| "imu": { | ||
| "bufferSize": 100, | ||
| "filterSize": 20 | ||
| }, | ||
|
|
||
| "lidar": { | ||
| "bufferSize": 1, | ||
| "port": 2368, | ||
| "pointScale": 0.1, | ||
| "rings": 64, | ||
| "vertical_fov_angle": 26.9 | ||
| }, | ||
|
|
||
| "registration": { | ||
| "max_iterations": 1000, | ||
| "it_weight_gradient": 0.0, | ||
| "epsilon": 0.005 | ||
| }, | ||
|
|
||
| "gpio": { | ||
| "button_chip": "gpiochip0", | ||
| "button_line": 0, | ||
| "led_chip": "gpiochip1", | ||
| "led_line": 0 | ||
| }, | ||
|
|
||
| "bridge": { | ||
| "use_from": true, | ||
| "use_to": true, | ||
|
|
||
| "send_original": false, | ||
| "send_preprocessed": true, | ||
| "send_after_registration": false, | ||
|
|
||
| "host_from": "192.168.1.245", | ||
|
|
||
| "imu_port_from": 4444, | ||
| "imu_port_to": 5555, | ||
|
|
||
| "pcl_port_from": 3333, | ||
| "pcl_port_to": 7777, | ||
|
|
||
| "transform_port_to": 8888, | ||
| "tsdf_port_to": 6666 | ||
| }, | ||
|
|
||
| "slam": { | ||
| "max_distance": 300, | ||
| "map_size_x": 401, | ||
| "map_size_y": 401, | ||
| "map_size_z": 59, | ||
| "max_weight": 10, | ||
| "initial_map_weight": 0.0, | ||
| "map_update_period": 500, | ||
| "map_update_position_threshold": 500, | ||
| "map_path": "/data" | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| { | ||
| "imu": { | ||
| "bufferSize": 16, | ||
| "filterSize": 25 | ||
| }, | ||
|
|
||
| "lidar": { | ||
| "bufferSize": 1, | ||
| "port": 2368, | ||
| "pointScale": 0.3 | ||
| }, | ||
|
|
||
| "registration": { | ||
| "max_iterations": 200, | ||
| "it_weight_gradient": 0.1, | ||
| "epsilon": 0.04 | ||
| }, | ||
|
|
||
| "gpio": { | ||
| "button_chip": "gpiochip0", | ||
| "button_line": 0, | ||
| "led_chip": "gpiochip1", | ||
| "led_line": 0 | ||
| }, | ||
|
|
||
| "bridge": { | ||
| "use_from" : true, | ||
| "use_to" : true, | ||
| "send_preprocessed" : true, | ||
|
|
||
| "host_from": "192.168.1.2", | ||
|
|
||
| "imu_port_from": 4444, | ||
| "imu_port_to": 5555, | ||
|
|
||
| "pcl_port_from": 3333, | ||
| "pcl_port_to": 7777, | ||
|
|
||
| "transform_port_to": 8888, | ||
| "tsdf_port_to": 6666 | ||
| }, | ||
|
|
||
| "slam": { | ||
| "max_distance": 600, | ||
| "map_size_x": 301, | ||
| "map_size_y": 301, | ||
| "map_size_z": 121, | ||
| "max_weight": 10, | ||
| "initial_map_weight": 0.0, | ||
| "map_update_period": 50, | ||
| "map_update_position_threshold": 500, | ||
| "map_path": "/data" | ||
| } | ||
| } |