Re: Stereo B Mapping Problem
Posted by minato_99 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Stereo-B-Mapping-Problem-tp9801p9821.html
Hello,
I have changed the texture. However, the 3D images are too much distorted. I have attached the rtabmap.launch file I am accessing through my rtab_stereo.launch code.
rtab_stereo.launch code:
rtabmap.ini:
Thanks.
URL: http://official-rtab-map-forum.206.s1.nabble.com/Stereo-B-Mapping-Problem-tp9801p9821.html
Hello,
I have changed the texture. However, the 3D images are too much distorted. I have attached the rtabmap.launch file I am accessing through my rtab_stereo.launch code.
rtab_stereo.launch code:
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="false" />
<arg name="rviz" default="true" />
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2) " /> <!-- roll and yaw = -$(arg pi/2) -->
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) chassis camera 100" />
<!-- Run the ROS package stereo_image_proc -->
<group ns="/stereo" >
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
<!-- Odometry -->
<node pkg="rtabmap_odom" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="left/image_rect_color"/>
<remap from="right/image_rect" to="right/image_rect"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="frame_id" type="string" value="chassis"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="approx_sync" type="bool" value="true"/>
<param name="queue_size" type="int" value="5"/>
<param name="Odom/MinInliers" type="string" value="12"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
</node>
</group>
<!-- Mapping -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="delete_db_on_start"> <!-- delete_db_on_start-->
<param name="frame_id" type="string" value="chassis"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="true"/>
<remap from="left/image_rect" to="/stereo/left/image_raw"/>
<remap from="right/image_rect" to="/stereo/right/image_raw"/>
<remap from="left/camera_info" to="/stereo/left/camera_info"/>
<remap from="right/camera_info" to="/stereo/right/camera_info"/>
<remap from="odom" to="/stereo/odom"/>
<param name="queue_size" type="int" value="30"/>
<!-- RTAB-Map's parameters -->
<param name="Vis/MinInliers" type="string" value="12"/>
<!-- <param name="Mem/IncrementalMemory" type="bool" value="true" /> -->
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<!-- Change initial costmap size -->
<param name="GridGlobal/MinSize" type="double" value="50"/> <!-- 50 meters wide -->
<param name="Grid/NoiseFilteringRadius" value="0.05"/>
<param name="Grid/NoiseFilteringMinNeighbors" value="2"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/> <!--false -> <!- Set to false to generate map correction between /map and /odom -->
<param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="Reg/Strategy" type="string" value="0"/> <!-- 0 --> <!-- Loop closure transformation: 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Icp/CorrespondenceRatio" type="string" value="0.1"/>
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="Rtabmap/DetectionRate" type="string" value="1000"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/> <!-- 1-->
<param name="Rtabmap/TimeThr" type="string" value="700"/> <!-- 700 -->
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="RGBD/OptimizeMaxError" type="string" value="3"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
</group>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_stereo_outdoor.rviz"/>
</launch>
rtabmap.launch code:
<?xml version="1.0"?>
<!-- -->
<launch>
<!-- Deprecated: use "roslaunch rtabmap_launch rtambap.launch" instead -->
<!-- Choose between depth and stereo, set both to false to do only scan -->
<arg name="stereo" default="false"/>
<arg if="$(arg stereo)" name="depth" default="false"/>
<arg unless="$(arg stereo)" name="depth" default="true"/>
<arg name="subscribe_rgb" default="$(arg depth)"/>
<!-- Choose visualization -->
<arg name="rtabmap_viz" default="true" />
<arg name="rtabmapviz" default="$(arg rtabmap_viz)" /> <!-- deprecated, use rtabmap_viz -->
<arg name="rviz" default="false" />
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg name="initial_pose" default=""/> <!-- Format: "x y z roll pitch yaw" or "x y z qx qy qz qw". Default: see "RGBD/StartAtOrigin" doc -->
<!-- sim time for convenience, if playing a rosbag -->
<arg name="use_sim_time" default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
<!-- Corresponding config files -->
<arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_launch)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="odom_frame_id" default=""/> <!-- If set, TF is used to get odometry instead of the topic -->
<arg name="odom_frame_id_init" default=""/> <!-- If set, TF map->odom is published even if no odometry topic has been received yet. The frame id should match the one in the topic. -->
<arg name="map_frame_id" default="map"/>
<arg name="ground_truth_frame_id" default=""/> <!-- e.g., "world" -->
<arg name="ground_truth_base_frame_id" default=""/> <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
<arg name="namespace" default="rtabmap"/>
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="queue_size" default="10"/>
<arg name="wait_for_transform" default="0.2"/>
<arg name="args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="rtabmap_args" default="$(arg args)"/> <!-- deprecated, use "args" argument -->
<arg name="gdb" default="false"/> <!-- Launch nodes in gdb for debugging (apt install xterm gdb) -->
<arg if="$(arg gdb)" name="launch_prefix" default="xterm -e gdb -q -ex run --args"/>
<arg unless="$(arg gdb)" name="launch_prefix" default=""/>
<arg name="clear_params" default="true"/>
<arg name="output" default="screen"/> <!-- Control node output (screen or log) -->
<arg name="publish_tf_map" default="true"/>
<!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
<arg if="$(arg stereo)" name="approx_sync" default="false"/>
<arg unless="$(arg stereo)" name="approx_sync" default="$(arg depth)"/>
<arg name="approx_sync_max_interval" default="0"/> <!-- (sec) 0 means infinite interval duration (used with approx_sync=true) -->
<!-- RGB-D related topics -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />
<!-- stereo related topics -->
<arg name="stereo_namespace" default="/stereo_camera"/>
<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<!-- Already synchronized RGB-D related topic, with rtabmap_sync/rgbd_sync nodelet -->
<arg name="rgbd_sync" default="false"/> <!-- pre-sync rgb_topic, depth_topic, camera_info_topic -->
<arg name="approx_rgbd_sync" default="true"/> <!-- false=exact synchronization -->
<arg name="subscribe_rgbd" default="$(arg rgbd_sync)"/>
<arg name="rgbd_topic" default="rgbd_image" />
<arg name="depth_scale" default="1.0" /> <!-- Deprecated, use rgbd_depth_scale instead -->
<arg name="rgbd_depth_scale" default="$(arg depth_scale)" />
<arg name="rgbd_decimation" default="1" />
<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
<arg name="depth_image_transport" default="compressedDepth"/> <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") -->
<arg name="gen_cloud" default="false"/> <!-- only works with depth image and if not subscribing to scan_cloud topic-->
<arg name="gen_cloud_decimation" default="4"/>
<arg name="gen_cloud_voxel" default="0.05"/>
<arg name="subscribe_scan" default="false"/>
<arg name="scan_topic" default="/scan"/>
<arg name="subscribe_scan_cloud" default="$(arg gen_cloud)"/>
<arg name="scan_cloud_topic" default="/scan_cloud"/>
<arg name="subscribe_scan_descriptor" default="false"/>
<arg name="scan_descriptor_topic" default="/scan_descriptor"/>
<arg name="scan_deskewing" default="false"/>
<arg name="scan_deskewing_slerp" default="false"/>
<arg name="scan_cloud_max_points" default="0"/>
<arg name="scan_cloud_filtered" default="$(arg scan_deskewing)"/> <!-- use filtered cloud from icp_odometry for mapping -->
<arg name="gen_scan" default="false"/> <!-- only works with depth image and if not subscribing to scan topic-->
<arg name="gen_depth" default="false" /> <!-- Generate depth image from scan_cloud -->
<arg name="gen_depth_decimation" default="1" />
<arg name="gen_depth_fill_holes_size" default="0" />
<arg name="gen_depth_fill_iterations" default="1" />
<arg name="gen_depth_fill_holes_error" default="0.1" />
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="icp_odometry" default="false"/> <!-- Launch rtabmap icp odometry node -->
<arg name="odom_topic" default="odom"/> <!-- Odometry topic name -->
<arg name="vo_frame_id" default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
<arg name="publish_tf_odom" default="true"/>
<arg name="odom_tf_angular_variance" default="0.001"/> <!-- If TF is used to get odometry, this is the default angular variance -->
<arg name="odom_tf_linear_variance" default="0.001"/> <!-- If TF is used to get odometry, this is the default linear variance -->
<arg name="odom_args" default=""/> <!-- More arguments for odometry (overwrite same parameters in rtabmap_args) -->
<arg name="odom_sensor_sync" default="false"/>
<arg name="odom_guess_frame_id" default=""/>
<arg name="odom_guess_min_translation" default="0"/>
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="odom_max_rate" default="0"/>
<arg name="odom_expected_rate" default="0"/>
<arg name="imu_topic" default="/imu/data"/> <!-- only used with VIO approaches -->
<arg name="wait_imu_to_init" default="false"/>
<arg name="use_odom_features" default="false"/>
<arg name="scan_cloud_assembling" default="false"/>
<arg name="scan_cloud_assembling_time" default="1"/> <!-- max_clouds and time should not be set at the same time -->
<arg name="scan_cloud_assembling_max_clouds" default="0"/> <!-- max_clouds and time should not be set at the same time -->
<arg name="scan_cloud_assembling_fixed_frame" default=""/>
<arg name="scan_cloud_assembling_voxel_size" default="0.05"/>
<arg name="scan_cloud_assembling_range_min" default="0.0"/> <!-- 0=disabled -->
<arg name="scan_cloud_assembling_range_max" default="0.0"/> <!-- 0=disabled -->
<arg name="scan_cloud_assembling_noise_radius" default="0.0"/> <!-- 0=disabled -->
<arg name="scan_cloud_assembling_noise_min_neighbors" default="5"/>
<arg name="subscribe_user_data" default="false"/> <!-- user data synchronized subscription -->
<arg name="user_data_topic" default="/user_data"/>
<arg name="user_data_async_topic" default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->
<arg name="gps_topic" default="/gps/fix" /> <!-- gps async subscription -->
<arg name="tag_topic" default="/tag_detections" /> <!-- apriltags async subscription -->
<arg name="tag_linear_variance" default="0.0001" />
<arg name="tag_angular_variance" default="9999" /> <!-- >=9999 means ignore rotation in optimization, when rotation estimation of the tag is not reliable -->
<arg name="fiducial_topic" default="/fiducial_transforms" /> <!-- aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covriance -->
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
<arg if="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)_relay"/>
<arg unless="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)"/>
<arg if="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)"/>
<arg if="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)"/>
<arg if="$(arg rgbd_sync)" name="rgbd_topic_relay" default="$(arg rgbd_topic)"/>
<arg unless="$(arg rgbd_sync)" name="rgbd_topic_relay" default="$(arg rgbd_topic)_relay"/>
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg name="stereo" value="$(arg stereo)"/>
<arg name="depth" value="$(arg depth)"/>
<arg name="subscribe_rgb" value="$(arg subscribe_rgb)"/>
<arg name="rtabmap_viz" value="$(arg rtabmapviz)" />
<arg name="rviz" value="$(arg rviz)" />
<arg name="localization" value="$(arg localization)"/>
<arg name="initial_pose" value="$(arg initial_pose)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="cfg" value="$(arg cfg)" />
<arg name="gui_cfg" value="$(arg gui_cfg)" />
<arg name="rviz_cfg" value="$(arg rviz_cfg)" />
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="odom_frame_id_init" value="$(arg odom_frame_id_init)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="ground_truth_frame_id" value="$(arg ground_truth_frame_id)"/>
<arg name="ground_truth_base_frame_id" value="$(arg ground_truth_base_frame_id)"/>
<arg name="namespace" value="$(arg namespace)"/>
<arg name="database_path" value="$(arg database_path)"/>
<arg name="queue_size" value="$(arg queue_size)"/>
<arg name="wait_for_transform" value="$(arg wait_for_transform)"/>
<arg name="args" value="$(arg args)"/>
<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
<arg name="gdb" value="$(arg gdb)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="clear_params" value="$(arg clear_params)"/>
<arg name="output" value="$(arg output)"/>
<arg name="publish_tf_map" value="$(arg publish_tf_map)"/>
<arg name="approx_sync" value="$(arg approx_sync)"/>
<arg name="approx_sync_max_interval" value="$(arg approx_sync_max_interval)"/>
<arg name="rgb_topic" value="$(arg rgb_topic)" />
<arg name="depth_topic" value="$(arg depth_topic)" />
<arg name="camera_info_topic" value="$(arg camera_info_topic)" />
<arg name="depth_camera_info_topic" value="$(arg depth_camera_info_topic)" />
<arg name="stereo_namespace" value="$(arg stereo_namespace)"/>
<arg name="left_image_topic" value="$(arg left_image_topic)" />
<arg name="right_image_topic" value="$(arg right_image_topic)" />
<arg name="left_camera_info_topic" value="$(arg left_camera_info_topic)" />
<arg name="right_camera_info_topic" value="$(arg right_camera_info_topic)" />
<arg name="rgbd_sync" value="$(arg rgbd_sync)"/>
<arg name="approx_rgbd_sync" value="$(arg approx_rgbd_sync)"/>
<arg name="subscribe_rgbd" value="$(arg subscribe_rgbd)"/>
<arg name="rgbd_topic" value="$(arg rgbd_topic)" />
<arg name="depth_scale" value="$(arg depth_scale)" />
<arg name="rgbd_depth_scale" value="$(arg rgbd_depth_scale)" />
<arg name="rgbd_decimation" value="$(arg rgbd_decimation)" />
<arg name="compressed" value="$(arg compressed)"/>
<arg name="rgb_image_transport" value="$(arg rgb_image_transport)"/>
<arg name="depth_image_transport" value="$(arg depth_image_transport)"/>
<arg name="gen_cloud" value="$(arg gen_cloud)"/>
<arg name="gen_cloud_decimation" value="$(arg gen_cloud_decimation)"/>
<arg name="gen_cloud_voxel" value="$(arg gen_cloud_voxel)"/>
<arg name="subscribe_scan" value="$(arg subscribe_scan)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>
<arg name="subscribe_scan_cloud" value="$(arg subscribe_scan_cloud)"/>
<arg name="scan_cloud_topic" value="$(arg scan_cloud_topic)"/>
<arg name="subscribe_scan_descriptor" value="$(arg subscribe_scan_descriptor)"/>
<arg name="scan_descriptor_topic" value="$(arg scan_descriptor_topic)"/>
<arg name="scan_deskewing" value="$(arg scan_deskewing)"/>
<arg name="scan_deskewing_slerp" value="$(arg scan_deskewing_slerp)"/>
<arg name="scan_cloud_max_points" value="$(arg scan_cloud_max_points)"/>
<arg name="scan_cloud_filtered" value="$(arg scan_cloud_filtered)"/>
<arg name="gen_scan" value="$(arg gen_scan)"/>
<arg name="gen_depth" value="$(arg gen_depth)" />
<arg name="gen_depth_decimation" value="$(arg gen_depth_decimation)" />
<arg name="gen_depth_fill_holes_size" value="$(arg gen_depth_fill_holes_size)" />
<arg name="gen_depth_fill_iterations" value="$(arg gen_depth_fill_iterations)" />
<arg name="gen_depth_fill_holes_error" value="$(arg gen_depth_fill_holes_error)" />
<arg name="visual_odometry" value="$(arg visual_odometry)"/>
<arg name="icp_odometry" value="$(arg icp_odometry)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="vo_frame_id" value="$(arg vo_frame_id)"/>
<arg name="publish_tf_odom" value="$(arg publish_tf_odom)"/>
<arg name="odom_tf_angular_variance" value="$(arg odom_tf_angular_variance)"/>
<arg name="odom_tf_linear_variance" value="$(arg odom_tf_linear_variance)"/>
<arg name="odom_args" value="$(arg odom_args)"/>
<arg name="odom_sensor_sync" value="$(arg odom_sensor_sync)"/>
<arg name="odom_guess_frame_id" value="$(arg odom_guess_frame_id)"/>
<arg name="odom_guess_min_translation" value="$(arg odom_guess_min_translation)"/>
<arg name="odom_guess_min_rotation" value="$(arg odom_guess_min_rotation)"/>
<arg name="odom_max_rate" value="$(arg odom_max_rate)"/>
<arg name="odom_expected_rate" value="$(arg odom_expected_rate)"/>
<arg name="imu_topic" value="$(arg imu_topic)"/>
<arg name="wait_imu_to_init" value="$(arg wait_imu_to_init)"/>
<arg name="use_odom_features" value="$(arg use_odom_features)"/>
<arg name="scan_cloud_assembling" value="$(arg scan_cloud_assembling)"/>
<arg name="scan_cloud_assembling_time" value="$(arg scan_cloud_assembling_time)"/>
<arg name="scan_cloud_assembling_max_clouds" value="$(arg scan_cloud_assembling_max_clouds)"/>
<arg name="scan_cloud_assembling_fixed_frame" value="$(arg scan_cloud_assembling_fixed_frame)"/>
<arg name="scan_cloud_assembling_voxel_size" value="$(arg scan_cloud_assembling_voxel_size)"/>
<arg name="scan_cloud_assembling_range_min" value="$(arg scan_cloud_assembling_range_min)"/>
<arg name="scan_cloud_assembling_range_max" value="$(arg scan_cloud_assembling_range_max)"/>
<arg name="scan_cloud_assembling_noise_radius" value="$(arg scan_cloud_assembling_noise_radius)"/>
<arg name="scan_cloud_assembling_noise_min_neighbors" value="$(arg scan_cloud_assembling_noise_min_neighbors)"/>
<arg name="subscribe_user_data" value="$(arg subscribe_user_data)"/>
<arg name="user_data_topic" value="$(arg user_data_topic)"/>
<arg name="user_data_async_topic" value="$(arg user_data_async_topic)" />
<arg name="gps_topic" value="$(arg gps_topic)" />
<arg name="tag_topic" value="$(arg tag_topic)" />
<arg name="tag_linear_variance" value="$(arg tag_linear_variance)" />
<arg name="tag_angular_variance" value="$(arg tag_angular_variance)" />
<arg name="fiducial_topic" value="$(arg fiducial_topic)" />
</include>
</launch>
rtabmap.ini:
[Core] BRIEF\Bytes=32 BRISK\Octaves=3 BRISK\PatternScale=1 BRISK\Thresh=30 FAST\CV=0 FAST\Gpu=false FAST\GpuKeypointsRatio=0.05 FAST\GridCols=0 FAST\GridRows=0 FAST\MaxThreshold=200 FAST\MinThreshold=7 FAST\NonmaxSuppression=true FAST\Threshold=20 FREAK\NOctaves=4 FREAK\OrientationNormalized=true FREAK\PatternScale=22 FREAK\ScaleNormalized=true GFTT\BlockSize=3 GFTT\K=0.04 GFTT\MinDistance=7 GFTT\QualityLevel=0.001 GFTT\UseHarrisDetector=false GTSAM\Optimizer=1 Grid\3D=true Grid\CellSize=0.05 Grid\ClusterRadius=0.1 Grid\DepthRoiRatios=0.0 0.0 0.0 0.0 Grid\FlatObstacleDetected=true Grid\FootprintHeight=0.0 Grid\FootprintLength=0.0 Grid\FootprintWidth=0.0 Grid\GroundIsObstacle=false Grid\MapFrameProjection=false Grid\MaxGroundAngle=45 Grid\MaxGroundHeight=0.0 Grid\MaxObstacleHeight=0.0 Grid\MinClusterSize=10 Grid\MinGroundHeight=0.0 Grid\NoiseFilteringMinNeighbors=2 Grid\NoiseFilteringRadius=0.05 Grid\NormalK=20 Grid\NormalsSegmentation=true Grid\PreVoxelFiltering=true Grid\RangeMax=5.0 Grid\RangeMin=0.0 Grid\RayTracing=false Grid\Scan2dUnknownSpaceFilled=false Grid\ScanDecimation=1 Grid\Sensor=1 GridGlobal\AltitudeDelta=0 GridGlobal\Eroded=false GridGlobal\FootprintRadius=0.0 GridGlobal\FullUpdate=true GridGlobal\MaxNodes=0 GridGlobal\MinSize=50 GridGlobal\OccupancyThr=0.5 GridGlobal\ProbClampingMax=0.971 GridGlobal\ProbClampingMin=0.1192 GridGlobal\ProbHit=0.7 GridGlobal\ProbMiss=0.4 GridGlobal\UpdateError=0.01 Icp\CCFilterOutFarthestPoints=false Icp\CCMaxFinalRMS=0.2 Icp\CorrespondenceRatio=0.1 Icp\DebugExportFormat= Icp\DownsamplingStep=1 Icp\Epsilon=0 Icp\Force4DoF=false Icp\Iterations=30 Icp\MaxCorrespondenceDistance=0.1 Icp\MaxRotation=0.78 Icp\MaxTranslation=0.2 Icp\OutlierRatio=0.85 Icp\PMConfig= Icp\PMMatcherEpsilon=0.0 Icp\PMMatcherIntensity=false Icp\PMMatcherKnn=1 Icp\PointToPlane=true Icp\PointToPlaneGroundNormalsUp=0.0 Icp\PointToPlaneK=5 Icp\PointToPlaneLowComplexityStrategy=1 Icp\PointToPlaneMinComplexity=0.02 Icp\PointToPlaneRadius=0.0 Icp\RangeMax=0 Icp\RangeMin=0 Icp\ReciprocalCorrespondences=true Icp\Strategy=1 Icp\VoxelSize=0.05 KAZE\Diffusivity=1 KAZE\Extended=false KAZE\NOctaveLayers=4 KAZE\NOctaves=4 KAZE\Threshold=0.001 KAZE\Upright=false Marker\CornerRefinementMethod=0 Marker\Dictionary=0 Marker\Length=0 Marker\MaxDepthError=0.01 Marker\MaxRange=0.0 Marker\MinRange=0.0 Marker\Priors= Marker\PriorsVarianceAngular=0.001 Marker\PriorsVarianceLinear=0.001 Marker\VarianceAngular=0.01 Marker\VarianceLinear=0.001 ORB\EdgeThreshold=19 ORB\FirstLevel=0 ORB\Gpu=false ORB\NLevels=3 ORB\PatchSize=31 ORB\ScaleFactor=2 ORB\ScoreType=0 ORB\WTA_K=2 Optimizer\Epsilon=0.0 Optimizer\GravitySigma=0.3 Optimizer\Iterations=20 Optimizer\LandmarksIgnored=false Optimizer\PriorsIgnored=true Optimizer\Robust=false Optimizer\Strategy=1 Optimizer\VarianceIgnored=false PyMatcher\Cuda=true PyMatcher\Iterations=20 PyMatcher\Model=indoor PyMatcher\Path= PyMatcher\Threshold=0.2 RGBD\LoopClosureReextractFeatures=false RGBD\LoopCovLimited=false RGBD\OptimizeMaxError=5 <!-- 3 --> RGBD\ProximityPathFilteringRadius=1 Reg\Force3DoF=false Reg\RepeatOnce=true Reg\Strategy=0 SIFT\ContrastThreshold=0.04 SIFT\EdgeThreshold=10 SIFT\NFeatures=0 SIFT\NOctaveLayers=3 SIFT\RootSIFT=false SIFT\Sigma=1.6 SURF\Extended=false SURF\GpuKeypointsRatio=0.01 SURF\GpuVersion=false SURF\HessianThreshold=500 SURF\OctaveLayers=2 SURF\Octaves=4 SURF\Upright=false Stereo\DenseStrategy=0 Stereo\Eps=0.01 Stereo\Iterations=30 Stereo\MaxDisparity=128.0 Stereo\MaxLevel=5 Stereo\MinDisparity=0.5 Stereo\OpticalFlow=true Stereo\SSD=true Stereo\WinHeight=3 Stereo\WinWidth=15 StereoBM\BlockSize=15 StereoBM\Disp12MaxDiff=-1 StereoBM\MinDisparity=0 StereoBM\NumDisparities=128 StereoBM\PreFilterCap=31 StereoBM\PreFilterSize=9 StereoBM\SpeckleRange=4 StereoBM\SpeckleWindowSize=100 StereoBM\TextureThreshold=10 StereoBM\UniquenessRatio=15 StereoSGBM\BlockSize=15 StereoSGBM\Disp12MaxDiff=1 StereoSGBM\MinDisparity=0 StereoSGBM\Mode=2 StereoSGBM\NumDisparities=128 StereoSGBM\P1=2 StereoSGBM\P2=5 StereoSGBM\PreFilterCap=31 StereoSGBM\SpeckleRange=4 StereoSGBM\SpeckleWindowSize=100 StereoSGBM\UniquenessRatio=20 SuperPoint\Cuda=true SuperPoint\ModelPath= SuperPoint\NMS=true SuperPoint\NMSRadius=4 SuperPoint\Threshold=0.010 Version=0.21.1 Vis\BundleAdjustment=1 Vis\CorFlowEps=0.01 Vis\CorFlowIterations=30 Vis\CorFlowMaxLevel=3 Vis\CorFlowWinSize=16 Vis\CorGuessMatchToProjection=false Vis\CorGuessWinSize=40 Vis\CorNNDR=0.8 Vis\CorNNType=1 Vis\CorType=0 Vis\DepthAsMask=true Vis\EpipolarGeometryVar=0.1 Vis\EstimationType=1 Vis\FeatureType=8 Vis\ForwardEstOnly=true Vis\GridCols=1 Vis\GridRows=1 Vis\InlierDistance=0.1 Vis\Iterations=300 Vis\MaxDepth=0 Vis\MaxFeatures=1000 Vis\MeanInliersDistance=0.0 Vis\MinDepth=0 Vis\MinInliers=12 Vis\MinInliersDistribution=0.0 Vis\PnPFlags=0 Vis\PnPMaxVariance=0.0 Vis\PnPRefineIterations=0 Vis\PnPReprojError=2 Vis\RefineIterations=5 Vis\RoiRatios=0.0 0.0 0.0 0.0 Vis\SubPixEps=0.02 Vis\SubPixIterations=0 Vis\SubPixWinSize=3 g2o\Baseline=0.075 g2o\Optimizer=0 g2o\PixelVariance=1.0 g2o\RobustKernelDelta=8 g2o\Solver=0 [DatabaseViewer] GraphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0) GraphView\ensure_frame_visible=1 GraphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) GraphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0) GraphView\global_path_visible=true GraphView\gps_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\x80\x80\0\0) GraphView\gps_graph_visible=true GraphView\graph_visible=true GraphView\grid_visible=true GraphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0) GraphView\gt_graph_visible=true GraphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0) GraphView\intra_inter_session_colors_enabled=false GraphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) GraphView\link_width=0 GraphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) GraphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) GraphView\local_path_visible=true GraphView\local_radius_visible=false GraphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0) GraphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n) GraphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0) GraphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0) GraphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0) GraphView\node_odom_cache_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\0\0\0\0) GraphView\node_radius=0.009999999776482582 GraphView\odom_cache_overlay=true GraphView\orientation_ENU=false GraphView\origin_visible=true GraphView\referential_visible=true GraphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) GraphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) GraphView\view_plane=0 GraphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) ImageViewA\alpha=100 ImageViewA\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) ImageViewA\colormap=2 ImageViewA\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0) ImageViewA\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0) ImageViewA\depth_shown=false ImageViewA\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) ImageViewA\features_shown=true ImageViewA\features_size=0 ImageViewA\graphics_view=false ImageViewA\graphics_view_scale=true ImageViewA\graphics_view_scale_to_height=false ImageViewA\image_shown=true ImageViewA\lines_shown=true ImageViewA\lines_width=0 ImageViewA\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) ImageViewA\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) ImageViewB\alpha=100 ImageViewB\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) ImageViewB\colormap=2 ImageViewB\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0) ImageViewB\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0) ImageViewB\depth_shown=false ImageViewB\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) ImageViewB\features_shown=true ImageViewB\features_size=0 ImageViewB\graphics_view=false ImageViewB\graphics_view_scale=true ImageViewB\graphics_view_scale_to_height=false ImageViewB\image_shown=true ImageViewB\lines_shown=true ImageViewB\lines_width=0 ImageViewB\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) ImageViewB\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\a\xfc\0\0\0%\0\0\xe\x6\0\0\x4\xe\0\0\a\xfc\0\0\0J\0\0\xe\x6\0\0\x4\xe\0\0\0\x2\0\0\0\0\a\x80\0\0\a\xfc\0\0\0J\0\0\xe\x6\0\0\x4\xe) grid\colorEmpty=#ffff00 grid\colorGround=#00ff00 grid\colorObstacle=#ff0000 grid\cropRadius=1 grid\poseFiltering=false grid\poseFilteringAngle=30 grid\poseFilteringRadius=0.1 grid\probMap=false icp\decimation=1 icp\icpFromDepth=false icp\maxDepth=0 icp\minDepth=0 ignoreIntermediateNodes=false loggerLevel=1 maximized=false mesh\angleTolerance=15 mesh\fillDepthHolesError=10 mesh\fillDepthHolesSize=0 mesh\minClusterSize=0 mesh\quad=true mesh\triangleSize=2 optimization\camProj=false optimization\decimation=1 optimization\gainCompensationRadius=0 optimization\showDisp=false optimization\voxelSize=0 state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\xd9\0\0\x2\xb7\xfc\x2\0\0\0\x4\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\x1\0\0\x1\xe\0\0\x2\xb7\0\0\x1S\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0u\0i\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf2\0\xff\xff\xff\xfb\0\0\0\x32\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0r\0\x65\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x63\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\0*\0\xff\xff\xff\0\0\0\x1\0\0\0\0\0\0\0\0\xfc\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0t\0r\0\x61\0i\0n\0t\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\xc4\0\xff\xff\xff\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0n\0\x66\0o\0\0\0\0\0\xff\xff\xff\xff\0\0\0k\0\xff\xff\xff\0\0\0\x2\0\0\x6\v\0\0\0\xf2\xfc\x1\0\0\0\x3\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x65\0r\0\x65\0o\0V\0i\0\x65\0w\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0\"\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0v\0i\0\x65\0w\0\x33\0\x64\x1\0\0\0\0\0\0\x6\v\0\0\x2'\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x63\0\x63\0u\0p\0\x61\0n\0\x63\0y\0G\0r\0i\0\x64\0V\0i\0\x65\0w\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xc8\0\xff\xff\xff\0\0\x4,\0\0\x2\xb7\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)" timeStats=true verticalLayout=false [Gui] ExportCloudsDialog\assemble=true ExportCloudsDialog\assemble_samples=0 ExportCloudsDialog\assemble_voxel=0.01 ExportCloudsDialog\bilateral=false ExportCloudsDialog\bilateral_sigma_r=0.1 ExportCloudsDialog\bilateral_sigma_s=10 ExportCloudsDialog\binary=true ExportCloudsDialog\cam_proj=false ExportCloudsDialog\cam_proj_decimation=1 ExportCloudsDialog\cam_proj_distance_policy=true ExportCloudsDialog\cam_proj_export_format=0 ExportCloudsDialog\cam_proj_keep_points=false ExportCloudsDialog\cam_proj_mask= ExportCloudsDialog\cam_proj_max_angle=0 ExportCloudsDialog\cam_proj_max_distance=0 ExportCloudsDialog\cam_proj_recolor_points=true ExportCloudsDialog\cam_proj_roi_ratios=0.0 0.0 0.0 0.0 ExportCloudsDialog\cputsdf_flattenRadius=0.005 ExportCloudsDialog\cputsdf_minWeight=0 ExportCloudsDialog\cputsdf_randomSplit=1 ExportCloudsDialog\cputsdf_resolution=0.01 ExportCloudsDialog\cputsdf_size=12 ExportCloudsDialog\cputsdf_truncNeg=0.03 ExportCloudsDialog\cputsdf_truncPos=0.03 ExportCloudsDialog\filtering=false ExportCloudsDialog\filtering_min_neighbors=5 ExportCloudsDialog\filtering_radius=0 ExportCloudsDialog\frame=0 ExportCloudsDialog\from_depth=true ExportCloudsDialog\gain=false ExportCloudsDialog\gain_beta=10 ExportCloudsDialog\gain_full=false ExportCloudsDialog\gain_overlap=0 ExportCloudsDialog\gain_radius=0.02 ExportCloudsDialog\gain_rgb=true ExportCloudsDialog\intensity_colormap=0 ExportCloudsDialog\mesh=false ExportCloudsDialog\mesh_angle_tolerance=15 ExportCloudsDialog\mesh_clean=true ExportCloudsDialog\mesh_color_radius=0.03 ExportCloudsDialog\mesh_decimation_factor=0 ExportCloudsDialog\mesh_dense_strategy=1 ExportCloudsDialog\mesh_max_polygons=0 ExportCloudsDialog\mesh_min_cluster_size=0 ExportCloudsDialog\mesh_mu=2.5 ExportCloudsDialog\mesh_quad=false ExportCloudsDialog\mesh_radius=0.2 ExportCloudsDialog\mesh_texture=false ExportCloudsDialog\mesh_textureBlending=true ExportCloudsDialog\mesh_textureBlendingDecimation=0 ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=5 ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0 ExportCloudsDialog\mesh_textureCameraFiltering=false ExportCloudsDialog\mesh_textureCameraFilteringAngle=30 ExportCloudsDialog\mesh_textureCameraFilteringLaplacian=0 ExportCloudsDialog\mesh_textureCameraFilteringRadius=0 ExportCloudsDialog\mesh_textureCameraFilteringVel=0 ExportCloudsDialog\mesh_textureCameraFilteringVelRad=0 ExportCloudsDialog\mesh_textureDistanceToCamPolicy=false ExportCloudsDialog\mesh_textureExposureFusion=false ExportCloudsDialog\mesh_textureFormat=0 ExportCloudsDialog\mesh_textureMaxAngle=0 ExportCloudsDialog\mesh_textureMaxCount=1 ExportCloudsDialog\mesh_textureMaxDepthError=0 ExportCloudsDialog\mesh_textureMaxDistance=3 ExportCloudsDialog\mesh_textureMinCluster=50 ExportCloudsDialog\mesh_textureMultiband=false ExportCloudsDialog\mesh_textureMultibandAngleHardThr=90 ExportCloudsDialog\mesh_textureMultibandBestScoreThr=0.1 ExportCloudsDialog\mesh_textureMultibandDownScale=2 ExportCloudsDialog\mesh_textureMultibandFillHoles=false ExportCloudsDialog\mesh_textureMultibandForceVisible=false ExportCloudsDialog\mesh_textureMultibandNbContrib=1 5 10 0 ExportCloudsDialog\mesh_textureMultibandPadding=5 ExportCloudsDialog\mesh_textureMultibandUnwrap=0 ExportCloudsDialog\mesh_textureRoiRatios=0.0 0.0 0.0 0.0 ExportCloudsDialog\mesh_textureSize=6 ExportCloudsDialog\mesh_triangle_size=1 ExportCloudsDialog\mls=false ExportCloudsDialog\mls_dilation_iterations=1 ExportCloudsDialog\mls_dilation_voxel_size=0.005 ExportCloudsDialog\mls_output_voxel_size=0 ExportCloudsDialog\mls_point_density=10 ExportCloudsDialog\mls_polygonial_order=2 ExportCloudsDialog\mls_radius=0.04 ExportCloudsDialog\mls_upsampling_method=0 ExportCloudsDialog\mls_upsampling_radius=0.01 ExportCloudsDialog\mls_upsampling_step=0.005 ExportCloudsDialog\nodes_filtering=false ExportCloudsDialog\nodes_filtering_xmax=0 ExportCloudsDialog\nodes_filtering_xmin=0 ExportCloudsDialog\nodes_filtering_ymax=0 ExportCloudsDialog\nodes_filtering_ymin=0 ExportCloudsDialog\nodes_filtering_zmax=0 ExportCloudsDialog\nodes_filtering_zmin=0 ExportCloudsDialog\normals_ground_normals_up=0 ExportCloudsDialog\normals_k=20 ExportCloudsDialog\normals_radius=0 ExportCloudsDialog\openchisel_carving_dist_m=0.05 ExportCloudsDialog\openchisel_chunk_size_x=16 ExportCloudsDialog\openchisel_chunk_size_y=16 ExportCloudsDialog\openchisel_chunk_size_z=16 ExportCloudsDialog\openchisel_far_plane_dist=1.1 ExportCloudsDialog\openchisel_integration_weight=1 ExportCloudsDialog\openchisel_merge_vertices=true ExportCloudsDialog\openchisel_near_plane_dist=0.05 ExportCloudsDialog\openchisel_truncation_constant=0.001504 ExportCloudsDialog\openchisel_truncation_linear=0.00152 ExportCloudsDialog\openchisel_truncation_quadratic=0.0019 ExportCloudsDialog\openchisel_truncation_scale=10 ExportCloudsDialog\openchisel_use_voxel_carving=false ExportCloudsDialog\pipeline=1 ExportCloudsDialog\poisson_depth=0 ExportCloudsDialog\poisson_iso=8 ExportCloudsDialog\poisson_manifold=true ExportCloudsDialog\poisson_minDepth=5 ExportCloudsDialog\poisson_outputPolygons=false ExportCloudsDialog\poisson_pointWeight=4 ExportCloudsDialog\poisson_polygon_size=0.03 ExportCloudsDialog\poisson_samples=1 ExportCloudsDialog\poisson_scale=1.1 ExportCloudsDialog\poisson_solver=8 ExportCloudsDialog\regenerate=true ExportCloudsDialog\regenerate_ceiling=0 ExportCloudsDialog\regenerate_decimation=1 ExportCloudsDialog\regenerate_distortion_model= ExportCloudsDialog\regenerate_fill_error=2 ExportCloudsDialog\regenerate_fill_size=0 ExportCloudsDialog\regenerate_floor=0 ExportCloudsDialog\regenerate_footprint_height=0 ExportCloudsDialog\regenerate_footprint_length=0 ExportCloudsDialog\regenerate_footprint_width=0 ExportCloudsDialog\regenerate_max_depth=4 ExportCloudsDialog\regenerate_min_depth=0 ExportCloudsDialog\regenerate_roi=0.0 0.0 0.0 0.0 ExportCloudsDialog\regenerate_scan_decimation=1 ExportCloudsDialog\regenerate_scan_max_range=0 ExportCloudsDialog\regenerate_scan_min_range=0 ExportCloudsDialog\subtract=false ExportCloudsDialog\subtract_min_neighbors=5 ExportCloudsDialog\subtract_point_angle=0 ExportCloudsDialog\subtract_point_radius=0.02 PostProcessingDialog\cluster_angle=30 PostProcessingDialog\cluster_radius=1 PostProcessingDialog\cluster_radius_min=0 PostProcessingDialog\inter_session=true PostProcessingDialog\intra_session=true PostProcessingDialog\iterations=5Can you please help me with this and suggest me some papers, which would help me get the better quality of paper?
Thanks.
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