55 lines
1.6 KiB
Python
Executable File
55 lines
1.6 KiB
Python
Executable File
#!/usr/bin/env python
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from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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# For integers and doubles:
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# Name Type Reconfiguration level
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# Description
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# Default Min Max
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gen.add("cluster_max_distance", double_t, 0,
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"Parameter for DB_Scan, maximum distance to neighbors [m]",
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0.4, 0.0, 10.0)
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gen.add("cluster_min_pts", int_t, 0,
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"Parameter for DB_Scan: minimum number of points that define a cluster",
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2, 1, 20)
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gen.add("cluster_max_pts", int_t, 0,
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"Parameter for DB_Scan: maximum number of points that define a cluster (limit cluster size to avoid large L- and U-shapes)",
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30, 2, 200)
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gen.add("ransac_inlier_distance", double_t, 0,
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"Maximum distance to the line segment for inliers",
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0.2, 0.0, 10.0)
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gen.add("ransac_min_inliers", int_t, 0,
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"Minimum numer of inliers required to form a line",
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10, 0, 100)
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gen.add("ransac_no_iterations", int_t, 0,
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"Number of ransac iterations",
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2000, 1, 10000)
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gen.add("ransac_remainig_outliers", int_t, 0,
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"Repeat ransac until the number of outliers is as specified here",
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3, 0, 50)
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gen.add("ransac_convert_outlier_pts", bool_t, 0,
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"Convert remaining outliers to single points.",
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True)
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gen.add("ransac_filter_remaining_outlier_pts", bool_t, 0,
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"Filter the interior of remaining outliers and keep only keypoints of their convex hull",
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False)
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gen.add("convex_hull_min_pt_separation", double_t, 0,
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"Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all)",
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0.1, 0.0, 10.0)
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exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToLinesDBSRANSAC"))
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