fixed example configs

config/examples/micp_sick_gpu.yaml

@@ -11,52 +11,51 @@ micp:
   combining_unit: gpu
   # maximum number of correction steps per second
   # lower this to decrease the correction speed but save energy 
-  corr_rate_max: 1000
-  print_corr_rate: False
-
+  corr_rate_max: 100
+
   # adjust max distance dependend of the state of localization
   adaptive_max_dist: True # enable adaptive max dist
 
   # initial pose changes
   trans: [0.0, 0.0, 0.0]
-  rot: [0.0, 0.0, 0.0] # euler angles (3) or quaternion (4)  
+  rot: [0.0, 0.0, 0.0] # euler angles (3) or quaternion (4)
+
+  # DEBUGGING / VISUALIZATION
+  # corr = correspondences
+  viz_corr: True # disable visualization to improve performance
+  # corr = correction
+  print_corr_rate: False # enable to print current rates
+  disable_corr: False # enable to disable actual tf corrections (use with 'viz_corr')
+
 
 # describe your sensor setup here
 sensors: # list of range sensors - at least one is required
-  # sick:
-  #   topic: scan
-  #   micp:
-  #     max_dist: 1.0
-  #     adaptive_max_dist_min: 0.2
-  #     weight: 3
-  #     backend: optix
-  # wheels: # pull robot to the mesh
-  #   ranges: [0.2, 0.2, 0.2, 0.2]
-  #   type: ondn
-  #   frame: base_footprint
-  #   model:
-  #     width: 4
-  #     height: 1
-  #     range_min: 0.0
-  #     range_max: 10.0
-  #     origs: [[ 0.2,  0.15,  0.2], # front left 
-  #             [ 0.2, -0.15,  0.2], # front right
-  #             [-0.2,  0.15,  0.2], # rear left
-  #             [-0.2, -0.15,  0.2]] # rear right
-  #     dirs:  [[ 0.0,  0.0, -1.0],
-  #             [ 0.0,  0.0, -1.0],
-  #             [ 0.0,  0.0, -1.0],
-  #             [ 0.0,  0.0, -1.0]]
-  #   micp:
-  #     max_dist: 1.0
-  #     adaptive_max_dist_min: 0.2
-  #     weight: 1
-  #     backend: optix
-  kinect:
-    topic: kinect/depth/image_raw
-    model_topic: kinect/rgb/camera_info
+  sick:
+    topic: scan
+    micp:
+      max_dist: 1.0
+      adaptive_max_dist_min: 0.2
+      weight: 3.0
+      backend: optix
+  wheels: # pull robot to the mesh
+    ranges: [0.2, 0.2, 0.2, 0.2]
+    type: ondn
+    frame: base_footprint
+    model:
+      width: 4
+      height: 1
+      range_min: 0.0
+      range_max: 10.0
+      origs: [[ 0.15,  0.18,  0.2], # front left 
+              [ 0.15, -0.18,  0.2], # front right
+              [-0.15,  0.18,  0.2], # rear left
+              [-0.15, -0.18,  0.2]] # rear right
+      dirs:  [[ 0.0,  0.0, -1.0],
+              [ 0.0,  0.0, -1.0],
+              [ 0.0,  0.0, -1.0],
+              [ 0.0,  0.0, -1.0]]
     micp:
       max_dist: 1.0
       adaptive_max_dist_min: 0.2
-      weight: 2.0
+      weight: 1.0
       backend: optix

config/examples/micp_velodyne_cpu.yaml

@@ -5,7 +5,6 @@ odom_frame: odom
 
 # rate of broadcasting tf transformations
 tf_rate: 50
-invert_tf: False
 
 micp:
   # merging on gpu or cpu
@@ -17,20 +16,19 @@ micp:
 
   # adjust max distance dependend of the state of localization
   adaptive_max_dist: False # enable adaptive max dist
-
-  # DEBUGGING   
-  # corr = correspondences
-  print_n_corr: True
-  print_corr_dist: True
-  viz_corr: True
-  # corr = correction
-  print_corr_rate: False
-  disable_corr: True
+
 
   # initial pose changes
   trans: [0.0, 0.0, 0.0]
   rot: [0.0, 0.0, 0.0] # euler angles (3) or quaternion (4)  
 
+  # DEBUGGING / VISUALIZATION
+  # corr = correspondences
+  viz_corr: True # disable visualization to improve performance
+  # corr = correction
+  print_corr_rate: False # enable to print current rates
+  disable_corr: False # enable to disable actual tf corrections (use with 'viz_corr')
+
 # describe your sensor setup here
 sensors: # list of range sensors - at least one is required
   velodyne:

config/examples/micp_velodyne_gpu.yaml

@@ -5,21 +5,20 @@ odom_frame: odom
 
 # rate of broadcasting tf transformations
 tf_rate: 50
-invert_tf: False
 
 micp:
   # merging on gpu or cpu
   combining_unit: gpu
   # maximum number of correction steps per second
   # lower this to decrease the correction speed but save energy 
-  corr_rate_max: 500
+  corr_rate_max: 100
 
   # adjust max distance dependend of the state of localization
-  adaptive_max_dist: False # enable adaptive max dist
+  adaptive_max_dist: True # enable adaptive max dist
 
   # DEBUGGING   
   # corr = correspondences
-  viz_corr: False
+  viz_corr: True
   # corr = correction
   print_corr_rate: False
   disable_corr: False

config/micp.yaml

@@ -25,10 +25,6 @@ micp:
   # - enable with care. Decreases the processing time a lot
   # corr = correspondences
   viz_corr: True
-  viz_corr_data_color: [1.0, 1.0, 1.0, 0.5] # rgba
-  viz_corr_model_color: [0.2, 0.2, 0.2, 1.0] # rgba
-  viz_corr_scale: 0.008
-
   # corr = correction
   print_corr_rate: False
   disable_corr: False