88 lines
3.2 KiB
YAML
88 lines
3.2 KiB
YAML
# 1. ROS节点参数 =============================================================
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odom_topic: "/sim/odom"
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depth_topic: "/depth_image"
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lidar_topic: "/lidar_points"
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render_depth: true
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depth_fps: 33 # odom 100hz, depth 33hz, 每3帧odom渲染一次
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render_lidar: true
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lidar_fps: 10
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# 2. 仿真环境参数 =============================================================
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random_map: true # 使用预先建立的点云地图还是随机地图
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resolution: 0.1 # 地图分辨率
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# 2.1 预先建立的点云地图 (此分支已弃用)
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ply_file: "src/pointcloud/forest.ply"
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expand_x_times: 0 # x方向复制次数（cuda版不使用）
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expand_y_times: 0 # y方向复制次数（cuda版不使用）
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occupy_threshold: 0 # 大于多少个点才认为占据（cpu版不使用）
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# 2.2 随机地图 ======
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seed: 3
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x_length: 60 # 真正随机范围(XY更大范围处为其镜像)
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y_length: 60
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z_length: 15
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maze_type: 5 # 1: 溶洞 2: 柱子 3:迷宫 5:森林 6:房间 7:墙面 (当前策略支持1,2,5,7)
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# 溶洞
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complexity: 0.02 # 复杂度 0.0-0.5
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fill: 0.1 # 填充率 0.0-0.4
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fractal: 1
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attenuation: 0.1
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# 柱子
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width_min: 0.6
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width_max: 1.5
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obstacle_number: 100
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# 迷宫
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road_width: 3
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add_wall_x: 1
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add_wall_y: 1
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# 森林
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tree_file: "src/pointcloud/tree.ply"
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tree_dist: 4
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# 房间
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room_number: 4 # 每个方向上的房间数 (房间大小 = x_length / room_number)
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max_windows: 2 # 每面墙最多窗口数
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window_size_min: 2.0
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window_size_max: 2.8
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add_ceiling: 0 # 是否添加天花板
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# 墙面
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wall_width_min: 0.5
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wall_width_max: 6.0
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wall_thick: 0.5
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wall_number: 100 # 墙面数量
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wall_ceiling: 1 # 是否添加天花板
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# 3. 传感器参数 ==============================================================
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camera:
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fx: 80.0 # focal length x
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fy: 80.0 # focal length y
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cx: 80.0 # principal point x (image center)
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cy: 45.0 # principal point y (image center)
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image_width: 160
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image_height: 90
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max_depth_dist: 20.0
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normalize_depth: false
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pitch: -0.0 # 相机相对机体的俯仰角 (仰为负, cpu版尚未添加)
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lidar:
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vertical_lines: 16 # 纵向16线
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vertical_angle_start: -15.0 # 起始垂直角度
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vertical_angle_end: 15.0 # 结束垂直角度
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horizontal_num: 360 # 水平360点
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horizontal_resolution: 1.0 # 水平分辨率为1度，horizontal_resolution * horizontal_num = 360
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max_lidar_dist: 20.0
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# 4. 数据收集参数 =============================================================
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save_path: "../dataset/"
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env_num: 10 # 地图数量
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image_num: 10000 # 每个地图收集图像数量
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roll_range: 30 # 采样点的roll角度范围
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pitch_range: 30 # 采样点的pitch角度范围
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x_range: 40 # x方向采样范围 (请小于地图大小x_length并保留一定边缘间距)
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y_range: 40 # y方向采样范围 (请小于地图大小y_length并保留一定边缘间距)
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z_range: [0.5, 4] # z方向采样范围 (请小于地图大小z_length并保留一定边缘间距)
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safe_dist: 0.5 # 安全距离，采样点与障碍的最小距离
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ply_res: 0.1 # 保存点云滤波的体素网格大小
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