Method initParams_

sloam/src/core/sloamNode.cpp:57–128

  }

  void SLOAMNode::initParams_()
  {
    // PARAMETERS
    float beam_cluster_threshold = nh_.param("beam_cluster_threshold", 0.1);
    int min_vertex_size = nh_.param("min_vertex_size", 2);
    float max_dist_to_centroid = nh_.param("max_dist_to_centroid", 0.2);
    int min_landmark_size = nh_.param("min_landmark_size", 4);
    float min_landmark_height = nh_.param("min_landmark_height", 1);

    Instance::Params params;
    params.beam_cluster_threshold = beam_cluster_threshold;
    params.min_vertex_size = min_vertex_size;
    params.max_dist_to_centroid = max_dist_to_centroid;
    params.min_landmark_size = min_landmark_size;
    params.min_landmark_height = min_landmark_height;

    // Creating objects for submodules
    std::string modelFilepath;
    nh_.param<std::string>("seg_model_path", modelFilepath, "");
    ROS_DEBUG_STREAM("MODEL PATH: " << modelFilepath);
    float fov = nh_.param("seg_lidar_fov", 22.5);
    int lidar_w = nh_.param("seg_lidar_w", 2048);
    int lidar_h = nh_.param("seg_lidar_h", 64);
    bool do_destagger = nh_.param("do_destagger", true);
    auto temp_seg = boost::make_shared<seg::Segmentation>(modelFilepath, fov, -fov, lidar_w, lidar_h, 1, do_destagger);
    segmentator_ = std::move(temp_seg);

    semanticMap_ = MapManager();

    graphDetector_ = Instance();
    graphDetector_.set_params(params);
    graphDetector_.reset_tree_id();

    fmParams_.scansPerSweep = 1;
    fmParams_.minTreeModels = nh_.param("min_tree_models", 15);
    fmParams_.minGroundModels = nh_.param("min_ground_models", 50);
    fmParams_.maxLidarDist = nh_.param("max_lidar_dist", 15.0);
    fmParams_.maxGroundLidarDist = nh_.param("max_ground_dist", 30.0);
    fmParams_.minGroundLidarDist = nh_.param("min_ground_dist", 0.0);

    fmParams_.twoStepOptim = nh_.param("two_step_optim", false);

    fmParams_.groundRadiiBins = nh_.param("ground_radii_bins", 5);
    fmParams_.groundThetaBins = nh_.param("ground_theta_bins", 36);
    fmParams_.groundMatchThresh = nh_.param("ground_match_thresh", 2.0);
    fmParams_.groundRetainThresh = nh_.param("ground_retain_thresh", 2.0);;

    fmParams_.maxTreeRadius = 0.3;
    fmParams_.maxAxisTheta = 10;
    fmParams_.maxFocusOutlierDistance = 0.5;
    fmParams_.roughTreeMatchThresh = nh_.param("rough_tree_match_thresh", 3.0);
    fmParams_.treeMatchThresh = nh_.param("tree_match_thresh", 1.0);

    fmParams_.AddNewTreeThreshDist = nh_.param("add_new_tree_thresh_dist", 2.0);

    fmParams_.featuresPerTree = nh_.param("features_per_tree", 2);
    fmParams_.numGroundFeatures = nh_.param("num_ground_features", 10);