new localization config

mgonzs13 · Dec 10, 2023 · 1ae767a · 1ae767a
1 parent 4c334f8
commit 1ae767a
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Showing 2 changed files with 27 additions and 18 deletions.
diff --git a/rover_localization/launch/rgbd_odometry.launch.py b/rover_localization/launch/rgbd_odometry.launch.py
@@ -46,7 +46,7 @@ def generate_launch_description():
         "Odom/AlignWithGround": "false",
 
         "GFTT/MinDistance": "5.0",
-        "GFTT/QualityLevel": "0.1",
+        "GFTT/QualityLevel": "0.001",
         "GFTT/BlockSize": "4",
         "GFTT/UseHarrisDetector": "false",
         "GFTT/K": "0.04",
@@ -75,17 +75,16 @@ def generate_launch_description():
         # 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER
         "KAZE/Diffusivity": "1",
 
-        "BRIEF/Bytes": "128",
+        "BRIEF/Bytes": "64",
 
         "Vis/EstimationType": "0",
         # 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector
-        "Vis/FeatureType": "8",
+        "Vis/FeatureType": "6",
         "Vis/DepthAsMask": "true",
-        "Vis/FeatureWindowSize": "10",
         "Vis/CorGuessWinSize": "40",
-        "Vis/MaxFeatures": "0",
-        "Vis/MinDepth": "0.3",
-        "Vis/MaxDepth": "5.0",
+        "Vis/MaxFeatures": "1000",
+        "Vis/MinDepth": "0.0",
+        "Vis/MaxDepth": "0.0",
         # 0=Features Matching, 1=Optical Flow
         "Vis/CorType": "0",
         # kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7

diff --git a/rover_localization/launch/rtabmap.launch.py b/rover_localization/launch/rtabmap.launch.py
@@ -49,41 +49,51 @@ def generate_launch_description():
 
         # 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres
         "Optimizer/Strategy": "2",
-        "Optimizer/GravitySigma": "0.3",
+        "Optimizer/GravitySigma": "0.0",
 
-        "RGBD/OptimizeMaxError": "1.0",
+        "RGBD/OptimizeMaxError": "0.1",
         "RGBD/OptimizeFromGraphEnd": "true",
+        "RGBD/CreateOccupancyGrid": "true",
 
         "GFTT/MinDistance": "5.0",
         "GFTT/QualityLevel": "0.001",
+        "GFTT/BlockSize": "4",
+        "GFTT/UseHarrisDetector": "false",
+        "GFTT/K": "0.04",
 
-        "Vis/EstimationType": "0",
+        "BRIEF/Bytes": "64",
+
+        "Vis/EstimationType": "1",
+        "Vis/ForwardEstOnly": "false",
         # 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector
         "Vis/FeatureType": "8",
         "Vis/DepthAsMask": "true",
-        "Vis/FeatureWindowSize": "10",
         "Vis/CorGuessWinSize": "40",
-        "Vis/MaxFeatures": "0",
-        "Vis/MinDepth": "0.3",
-        "Vis/MaxDepth": "5.0",
+        "Vis/MaxFeatures": "1000",
+        "Vis/MinDepth": "0.0",
+        "Vis/MaxDepth": "0.0",
         # 0=Features Matching, 1=Optical Flow
         "Vis/CorType": "0",
         # kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7
         "Vis/CorNNType": "1",
 
         "Grid/Sensor": "1",
         "Grid/DepthDecimation": "4",
-        "Grid/RangeMin": "0.3",
-        "Grid/RangeMax": "5.0",
+        "Grid/RangeMin": "0.0",
+        "Grid/RangeMax": "3.0",
         "Grid/MinClusterSize": "10",
         "Grid/MaxGroundAngle": "45",
         "Grid/NormalK": "20",
+        "Grid/ClusterRadius": "0.1",
         "Grid/CellSize": "0.05",
         "Grid/FlatObstacleDetected": "false",
         "Gird/RayTracing": "true",
+        "Grid/3D": "true",
 
-        "GridGlobal/UpdateError": "0.01",
-        "GridGlobal/MinSize": "200"
+        "GridGlobal/UpdateError": "0.001",
+        "GridGlobal/MinSize": "200",
+        "GridGlobal/Eroded": "true",
+        "GridGlobal/FloodFillDepth": "16"
     }]
 
     remappings = [