diff --git a/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua b/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua index 95786c1..de48eb0 100644 --- a/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua +++ b/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua @@ -19,20 +19,7 @@ -- of a pixel in a X-Ray. VOXEL_SIZE = 5e-2 -XY_TRANSFORM = { - translation = { 0., 0., 0. }, - rotation = { 0., -math.pi / 2., 0., }, -} - -XZ_TRANSFORM = { - translation = { 0., 0., 0. }, - rotation = { 0. , 0., -math.pi / 2, }, -} - -YZ_TRANSFORM = { - translation = { 0., 0., 0. }, - rotation = { 0. , 0., math.pi, }, -} +include "transform.lua" options = { tracking_frame = "base_link", diff --git a/cartographer_ros/configuration_files/assets_writer_backpack_2d_ci.lua b/cartographer_ros/configuration_files/assets_writer_backpack_2d_ci.lua new file mode 100644 index 0000000..baf09bc --- /dev/null +++ b/cartographer_ros/configuration_files/assets_writer_backpack_2d_ci.lua @@ -0,0 +1,56 @@ +-- Copyright 2016 The Cartographer Authors +-- +-- Licensed under the Apache License, Version 2.0 (the "License"); +-- you may not use this file except in compliance with the License. +-- You may obtain a copy of the License at +-- +-- http://www.apache.org/licenses/LICENSE-2.0 +-- +-- Unless required by applicable law or agreed to in writing, software +-- distributed under the License is distributed on an "AS IS" BASIS, +-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +-- See the License for the specific language governing permissions and +-- limitations under the License. + +-- WARNING: we create a lot of X-Rays of a potentially large space in this +-- pipeline. For example, running over the +-- cartographer_paper_deutsches_museum.bag requires ~25GiB of memory. You can +-- reduce this by writing fewer X-Rays or upping VOXEL_SIZE - which is the size +-- of a pixel in a X-Ray. +VOXEL_SIZE = 5e-2 + +include "transform.lua" + +options = { + tracking_frame = "base_link", + pipeline = { + { + action = "min_max_range_filter", + min_range = 1., + max_range = 60., + }, + { + action = "dump_num_points", + }, + { + action = "write_xray_image", + voxel_size = VOXEL_SIZE, + filename = "xray_yz_all", + transform = YZ_TRANSFORM, + }, + { + action = "write_xray_image", + voxel_size = VOXEL_SIZE, + filename = "xray_xy_all", + transform = XY_TRANSFORM, + }, + { + action = "write_xray_image", + voxel_size = VOXEL_SIZE, + filename = "xray_xz_all", + transform = XZ_TRANSFORM, + }, + } +} + +return options diff --git a/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua b/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua index b831b3c..43c2bd9 100644 --- a/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua +++ b/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua @@ -14,20 +14,7 @@ VOXEL_SIZE = 5e-2 -XY_TRANSFORM = { - translation = { 0., 0., 0. }, - rotation = { 0., -math.pi / 2., 0., }, -} - -XZ_TRANSFORM = { - translation = { 0., 0., 0. }, - rotation = { 0. , 0., -math.pi / 2, }, -} - -YZ_TRANSFORM = { - translation = { 0., 0., 0. }, - rotation = { 0. , 0., math.pi, }, -} +include "transform.lua" options = { tracking_frame = "base_link", diff --git a/cartographer_ros/configuration_files/transform.lua b/cartographer_ros/configuration_files/transform.lua new file mode 100644 index 0000000..205f232 --- /dev/null +++ b/cartographer_ros/configuration_files/transform.lua @@ -0,0 +1,28 @@ +-- Copyright 2017 The Cartographer Authors +-- +-- Licensed under the Apache License, Version 2.0 (the "License"); +-- you may not use this file except in compliance with the License. +-- You may obtain a copy of the License at +-- +-- http://www.apache.org/licenses/LICENSE-2.0 +-- +-- Unless required by applicable law or agreed to in writing, software +-- distributed under the License is distributed on an "AS IS" BASIS, +-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +-- See the License for the specific language governing permissions and +-- limitations under the License. + +XY_TRANSFORM = { + translation = { 0., 0., 0. }, + rotation = { 0., -math.pi / 2., 0., }, +} + +XZ_TRANSFORM = { + translation = { 0., 0., 0. }, + rotation = { 0. , 0., -math.pi / 2, }, +} + +YZ_TRANSFORM = { + translation = { 0., 0., 0. }, + rotation = { 0. , 0., math.pi, }, +} diff --git a/cartographer_ros/launch/assets_writer_backpack_2d.launch b/cartographer_ros/launch/assets_writer_backpack_2d.launch index e27ca51..939b6d7 100644 --- a/cartographer_ros/launch/assets_writer_backpack_2d.launch +++ b/cartographer_ros/launch/assets_writer_backpack_2d.launch @@ -15,10 +15,11 @@ --> + + - + + + + + - -