From 62bb761417f6be04acead8f116b87fa960006af4 Mon Sep 17 00:00:00 2001 From: ssg1002 Date: Tue, 24 Jun 2025 12:57:03 +0200 Subject: [PATCH 1/2] add indoor config suggestion --- README.md | 4 ++++ config/default_config.yaml | 41 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 45 insertions(+) create mode 100644 config/default_config.yaml diff --git a/README.md b/README.md index b2414f7..630c1a8 100644 --- a/README.md +++ b/README.md @@ -49,6 +49,10 @@ kiss_slam_dump_config which will generate a `kiss_slam.yaml` file. Now, you can modify the parameters and pass the file to the `--config` option when running the `kiss_slam_pipeline`. +Suggestion for indoor applications: +1. Reduce the `odometry.preprocessing.max_range` to 50.0, this will automatically reduce the `voxel_size` to 0.5. +2. Reduce the `local_mapper.splitting_distance` to a suitable distance based on the scale of the indoor environment. + ### Install Python API (developer mode) For development purposes: diff --git a/config/default_config.yaml b/config/default_config.yaml new file mode 100644 index 0000000..b78c651 --- /dev/null +++ b/config/default_config.yaml @@ -0,0 +1,41 @@ +out_dir: slam_output + +odometry: + preprocessing: + max_range: 100.0 + min_range: 0.0 + deskew: true + registration: + max_num_iterations: 500 + convergence_criterion: 0.0001 + max_num_threads: 0 + mapping: + voxel_size: null + max_points_per_voxel: 20 + adaptive_threshold: + fixed_threshold: null + initial_threshold: 2.0 + min_motion_th: 0.1 + +local_mapper: + voxel_size: 0.5 + splitting_distance: 100.0 + +occupancy_mapper: + free_threshold: 0.2 + occupied_threshold: 0.65 + resolution: 0.5 + max_range: null + z_min: 0.1 + z_max: 0.5 + +loop_closer: + detector: + density_map_resolution: 0.5 + density_threshold: 0.05 + hamming_distance_threshold: 50 + inliers_threshold: 5 + overlap_threshold: 0.4 + +pose_graph_optimizer: + max_iterations: 10 From 7531b7248f0ded31958ca313d9b2f448a278ae50 Mon Sep 17 00:00:00 2001 From: ssg1002 Date: Tue, 24 Jun 2025 13:14:19 +0200 Subject: [PATCH 2/2] remove default_config.yaml --- config/default_config.yaml | 41 -------------------------------------- 1 file changed, 41 deletions(-) delete mode 100644 config/default_config.yaml diff --git a/config/default_config.yaml b/config/default_config.yaml deleted file mode 100644 index b78c651..0000000 --- a/config/default_config.yaml +++ /dev/null @@ -1,41 +0,0 @@ -out_dir: slam_output - -odometry: - preprocessing: - max_range: 100.0 - min_range: 0.0 - deskew: true - registration: - max_num_iterations: 500 - convergence_criterion: 0.0001 - max_num_threads: 0 - mapping: - voxel_size: null - max_points_per_voxel: 20 - adaptive_threshold: - fixed_threshold: null - initial_threshold: 2.0 - min_motion_th: 0.1 - -local_mapper: - voxel_size: 0.5 - splitting_distance: 100.0 - -occupancy_mapper: - free_threshold: 0.2 - occupied_threshold: 0.65 - resolution: 0.5 - max_range: null - z_min: 0.1 - z_max: 0.5 - -loop_closer: - detector: - density_map_resolution: 0.5 - density_threshold: 0.05 - hamming_distance_threshold: 50 - inliers_threshold: 5 - overlap_threshold: 0.4 - -pose_graph_optimizer: - max_iterations: 10