120
•
usePlanarMotion:
false - Set to true if you want to limit the motion to x-y plane for
movement on flat surfaces. (Ignores roll, pitch, and height changes).
•
useLevelMotion:
false – Set to true if you want to ignore roll and pitch
•
useIMURollPitchOnly:
false – Set to true if you want to ignore yaw data from the IMU.
•
start_pose:
- Alternative to using localization from last mode. If you repeatedly start
from the same location, you can set that here and use localization with or without camera
mode. Note the double indents for the position data.
•
x:
0 - Forward (distance in meters)
•
y:
0 - Left (distance in meters)
•
z
:
0 - Up (distance in meters)
•
yaw:
0 - Rotation about z (angle in radians)
•
pitch:
0 - Rotation about y (angle in radians)
•
roll:
0 - Rotation about x (angle in radians – usually set to 0.0)
mapParser
:
•
maxPointReadNum:
300000 - Maximum number of points to read from the logged file. If
more points are logged, the program will downsize the points to this number.
•
voxelSize:
0.4 - Resolution of the point cloud in map files. In tight areas, reduce the
values by 50 %. In open areas, increase by 50 %.
pointCloudMatcher:
Used only with the Localize using GNSS Tool (BETA)
•
thread_count:
3 – Number of parallel threads to use for processing
•
max_iterations:
50 – Number of optimization steps
•
max_correspondence_distance:
2.0 - Range to look for matching features between
prior map and new map data (m).
•
voxel_grid_size:
0.15 – voxelation size of prior map and new map data (m).
•
transform_epsilon:
1e-6 – Exit criteria for optimization of ICP matching (m).
•
cropbox_size:
30 – Removes points greater than this range for matching against (m)
•
num_angles:
8 – Number of initial yaw guesses for ICP algorithm. 8 seems to be enough
to allow the algorithm to converge on the correct solution.
Kaarta Cloud Settings
kaarta_cloud:
•
auto_create_zip:
false – If set to true, a zip file will be created at the end of each scan or
replay for uploading to Kaarta Cloud.
