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remove unnecessary file
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@minwoo0611
minwoo0611 committed Jun 25, 2023
1 parent 0c0ab24 commit 69c9e46
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162 changes: 1 addition & 161 deletions MA_LIO/config/City.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -47,164 +47,4 @@ uncertainty:
localize_cov_min: 0.3
localize_thresh_max: 0.7 #upper, max
localize_thresh_min: 0.2 #lower, min
cov_threshold: 0.5

# Hilti_Uzh(0.5m)
# uncertainty:
# point_cov_max: 0.001
# point_cov_min: 0.0025
# plane_cov_max: 1.5 # 1/2 = 0.5
# plane_cov_min: 0.8 # 1/0.5 = 2
# localize_cov_max: 4
# localize_cov_min: 0.5
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.3 #lower, min

# matching:
# v_threshold: 4
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.65
# maximum_scan_iter: 3

# Hilti_Campus(0.5m, 3)
# uncertainty:
# point_cov_max: 0.00125
# point_cov_min: 0.00075
# plane_cov_max: 1 # 1/2 = 0.5
# plane_cov_min: 0.8 # 1/0.5 = 2
# localize_cov_max: 2
# localize_cov_min: 0.5
# localize_thresh_max: 0.9 #upper, max
# localize_thresh_min: 0.5 #lower, min

# cov_threshold: 30

# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

# Hilti Lab
# uncertainty: 0.3m, blind 4
# point_cov_max: 0.0015
# point_cov_min: 0.0005
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.8 # 1/0.8 = 1.25
# localize_cov_max: 1.5
# localize_cov_min: 0.5
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.5 #lower, min
# cov_threshold: 1

# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

#Hilti Basement
# uncertainty:
# point_cov_max: 0.0015
# point_cov_min: 0.001
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.8 # 1/0.8 = 1.25
# localize_cov_max: 1.0
# localize_cov_min: 0.8
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.5 #lower, min
# cov_threshold: 1

# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

# ours
# uncertainty:
# point_cov_max: 0.002
# point_cov_min: 0.001
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.8 # 1/0.8 = 1.25
# localize_cov_max: 3.0
# localize_cov_min: 1.0
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.3 #lower, min
# cov_threshold: 1
# change: true
# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

#jot
# uncertainty:
# point_cov_max: 0.00110
# point_cov_min: 0.0075
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.6 # 1/0.8 = 1.25
# localize_cov_max: 2.0
# localize_cov_min: 0.7
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.5 #lower, min
# cov_threshold: 1
# change: true
# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

#sin
# uncertainty:
# point_cov_max: 0.00125
# point_cov_min: 0.00075
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.8 # 1/0.8 = 1.25
# localize_cov_max: 3
# localize_cov_min: 0.7
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.3 #lower, min
# cov_threshold: 1
# change: true
# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

# whampo and tst
# uncertainty:
# point_cov_max: 0.00125
# point_cov_min: 0.00075
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.8 # 1/0.8 = 1.25
# localize_cov_max: 1
# localize_cov_min: 0.5
# localize_thresh_max: 0.9 #upper, max
# localize_thresh_min: 0.6 #lower, min
# cov_threshold: 1

# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4
cov_threshold: 0.5
162 changes: 1 addition & 161 deletions MA_LIO/config/UrbanNav.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -45,164 +45,4 @@ uncertainty:
localize_cov_min: 0.3
localize_thresh_max: 0.7 #upper, max
localize_thresh_min: 0.2 #lower, min
cov_threshold: 0.5

# Hilti_Uzh(0.5m)
# uncertainty:
# point_cov_max: 0.001
# point_cov_min: 0.0025
# plane_cov_max: 1.5 # 1/2 = 0.5
# plane_cov_min: 0.8 # 1/0.5 = 2
# localize_cov_max: 4
# localize_cov_min: 0.5
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.3 #lower, min

# matching:
# v_threshold: 4
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.65
# maximum_scan_iter: 3

# Hilti_Campus(0.5m, 3)
# uncertainty:
# point_cov_max: 0.00125
# point_cov_min: 0.00075
# plane_cov_max: 1 # 1/2 = 0.5
# plane_cov_min: 0.8 # 1/0.5 = 2
# localize_cov_max: 2
# localize_cov_min: 0.5
# localize_thresh_max: 0.9 #upper, max
# localize_thresh_min: 0.5 #lower, min

# cov_threshold: 30

# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

# Hilti Lab
# uncertainty: 0.3m, blind 4
# point_cov_max: 0.0015
# point_cov_min: 0.0005
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.8 # 1/0.8 = 1.25
# localize_cov_max: 1.5
# localize_cov_min: 0.5
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.5 #lower, min
# cov_threshold: 1

# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

#Hilti Basement
# uncertainty:
# point_cov_max: 0.0015
# point_cov_min: 0.001
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.8 # 1/0.8 = 1.25
# localize_cov_max: 1.0
# localize_cov_min: 0.8
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.5 #lower, min
# cov_threshold: 1

# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

# ours
# uncertainty:
# point_cov_max: 0.002
# point_cov_min: 0.001
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.8 # 1/0.8 = 1.25
# localize_cov_max: 3.0
# localize_cov_min: 1.0
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.3 #lower, min
# cov_threshold: 1
# change: true
# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

#jot
# uncertainty:
# point_cov_max: 0.00110
# point_cov_min: 0.0075
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.6 # 1/0.8 = 1.25
# localize_cov_max: 2.0
# localize_cov_min: 0.7
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.5 #lower, min
# cov_threshold: 1
# change: true
# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

#sin
# uncertainty:
# point_cov_max: 0.00125
# point_cov_min: 0.00075
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.8 # 1/0.8 = 1.25
# localize_cov_max: 3
# localize_cov_min: 0.7
# localize_thresh_max: 0.95 #upper, max
# localize_thresh_min: 0.3 #lower, min
# cov_threshold: 1
# change: true
# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4

# whampo and tst
# uncertainty:
# point_cov_max: 0.00125
# point_cov_min: 0.00075
# plane_cov_max: 1 # 1/2 = 1
# plane_cov_min: 0.8 # 1/0.8 = 1.25
# localize_cov_max: 1
# localize_cov_min: 0.5
# localize_thresh_max: 0.9 #upper, max
# localize_thresh_min: 0.6 #lower, min
# cov_threshold: 1

# matching:
# v_threshold: 2
# w_threshold: 0.5236
# point_threshold: 300
# sim_threshold: 0.95
# degeneracy_threshold: 0.5
# maximum_scan_iter: 4
cov_threshold: 0.5

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