Linux shell 自動化配置icp-slam ini檔案 rawlog檔案 log檔案位置
阿新 • • 發佈：2018-12-17
1.功能：shell 自動化配置icp-slam ini檔案 rawlog檔案 log檔案位置
2.執行方式
1）將dealIni.sh 檔案置於icp-slam資料夾下
2）將icp-slam.sh置於icp-slam資料夾下
3）在icp-slam工作目錄執行命令
./icp-slam.sh icp_slam_demo_classic.ini all123.rawlog filelocation //引數說明 icp_slam_demo_classic.ini 可替換為自己的ini檔案 all123.rawlog可替換為自己的rawlog檔案 filelocation 為輸出的log檔案所在的資料夾名稱，可以自行設定
3.原始碼
1）dealIni.sh
#該指令碼必須用 source 命令 而且結果獲取為${var}獲取，不是return 如：source readIni.sh 否則變數無法外傳
# dealIni.sh iniFile section option
# read
# param : iniFile section option return value --- a str use: ${iniValue}
# param : iniFile section return options (element: option = value) --- a str[] use: arr_length=${#iniOptions[*]}} element=${iniOptions[0]}
# param : iniFile returm sections (element: section ) --- a str[] use: arr_length=${#iniSections[*]}} element=${iniSections[0]}
# write
#param : -w iniFile section option value add new element：section option result:if not --->creat ,have--->update,exist--->do nothing
#option ,value can not be null
#params
iniFile=$1
section=$2
option=$3
#sun
mode="iniR"
echo #!/bin/bash
#set -x
#./icp-slam.sh icp_slam_demo_classic.ini all123.rawlog logFileLocation
iniFile=$1
rawlog=$2
logFileLocation=$3
section="MappingApplication"
option="logOutput_dir"
#echo "iniFile: ${iniFile} rawlog: ${rawlog} logFileLocation:${logFileLocation} section: ${section} option:${option}"
source dealIni.sh -w ${iniFile} ${section} ${option} ${logFileLocation}
#echo "logFileLocation:${logFileLocation} section: ${section} option:${option}"
icp-slam ${iniFile} ${rawlog}
3)icp_slam_demo_classic.ini
#------------------------------------------------------------
# Config file for the "ICP-SLAM" application
# See: http://www.mrpt.org/list-of-mrpt-apps/application-icp-slam/
#------------------------------------------------------------
#=======================================================
# Section: [ICP]
# Parameters of ICP inside the ICP-based SLAM class
#=======================================================
[ICP]
maxIterations = 80 // The maximum number of iterations to execute if convergence is not achieved before
minAbsStep_trans = 1e-6 // If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated:
minAbsStep_rot = 1e-6 // If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated:
thresholdDist = 0.3 // Initial maximum distance for matching a pair of points
thresholdAng_DEG = 5 // An angular factor (in degrees) to increase the matching distance for distant points.
ALFA = 0.8 // After convergence, the thresholds are multiplied by this constant and ICP keep running (provides finer matching)
smallestThresholdDist=0.05 // This is the smallest the distance threshold can become after stopping ICP and accepting the result.
onlyClosestCorrespondences=true // 1: Use the closest points only, 0: Use all the correspondences within the threshold (more robust sometimes, but slower)
onlyUniqueRobust = true // Force unique correspondences in both directions when pairing two point clouds
# 0: icpClassic
# 1: icpLevenbergMarquardt
ICP_algorithm = icpClassic
# decimation to apply to the point cloud being registered against the map
# Reduce to "1" to obtain the best accuracy
corresponding_points_decimation = 5
#=======================================================
# Section: [MappingApplication]
# Use: Here comes global parameters for the app.
#=======================================================
[MappingApplication]
logOutput_dir = 2345678
# The source file (RAW-LOG) with action/observation pairs
rawlog_file=../../datasets/2006-01ENE-21-SENA_Telecom Faculty_one_loop_only.rawlog
rawlog_offset=0
# The directory where the log files will be saved (left in blank if no log is required)
LOG_FREQUENCY=50 // The frequency of log files generation:
SAVE_3D_SCENE=1
SAVE_POSE_LOG=0
CAMERA_3DSCENE_FOLLOWS_ROBOT=1
SHOW_PROGRESS_3D_REAL_TIME=1
SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS=5
SHOW_LASER_SCANS_3D = true
localizationLinDistance = 0.2 // The distance threshold for correcting odometry with ICP (meters)
localizationAngDistance = 5 // The distance threshold for correcting odometry with ICP (degrees)
insertionLinDistance = 1.2 // The distance threshold for inserting observations in the map (meters)
insertionAngDistance = 45.0 // The distance threshold for inserting observations in the map (degrees)
minICPgoodnessToAccept = 0.40 // Minimum ICP quality to accept correction [0,1].
# Neeeded for LM method, which only supports point-map to point-map matching.
matchAgainstTheGrid = 0
# ========================================================
# MULTIMETRIC MAP CONFIGURATION
# See docs for (Google for) mrpt::maps::CMultiMetricMap
# ========================================================
# Creation of maps:
occupancyGrid_count=0
gasGrid_count=0
landmarksMap_count=0
beaconMap_count=0
pointsMap_count=1
# Selection of map for likelihood: (fuseAll=-1,occGrid=0, points=1,landmarks=2,gasGrid=3)
likelihoodMapSelection=-1
# ====================================================
# MULTIMETRIC MAP: PointsMap #00
# ====================================================
# Creation Options for PointsMap 00:
[MappingApplication_pointsMap_00_insertOpts]
minDistBetweenLaserPoints = 0.05
fuseWithExisting = false
isPlanarMap = 1