参数解释？

[maomao0220]

大佬您好，能否对配置文件里的参数进行说明一下？

[maomao0220]

@LC-Robotics

[LC-Robotics]

Take helimos_ouster.yaml as an example:

sensor:
  min_range: 2.7    # Ignore points closer than this distance
  max_range: 240.0  # Ignore points farther than this distance
  min_z: -30.0      # Ignore points with z-value lower than this (relative to LiDAR)
  max_z: 60.0       # Ignore points with z-value higher than this (relative to LiDAR)

map:
  sub_voxel_size: 0.1 # The s_s in the paper
  voxel_depth: 2      # The d_v  in the paper
  block_depth: 5      # The d_b  in the paper

  # When local map is enabled, map outside the local map range will be removed
  enable_local_map: false
  local_map_range: 50.0     # Maximum distance of local map
  local_map_min_z: -20.0    # Minimum height of local map
  local_map_max_z: 20.0     # Maximum height of local map

  # Raycast range limit
  raycast_max_range: 100.0  # Maximum raycast distance
  raycast_min_z: -5.0       # Minimum raycast height
  raycast_max_z: 10.0       # Maximum raycast height

  counts_to_free: 6    # The tau_f in the paper
  counts_to_revert: 20 # The tau_r in the paper

  conservative_connectivity: 26  # The N_m() in the paper
  aggressive_connectivity: 124   # The N_a() in the paper

raycast_enhancement:
  enable_raycast_enhancement: true

  lidar_horizon_fov_degree: 360.0
  lidar_vertical_fov_upper_degree: 11.25
  lidar_vertical_fov_lower_degree: -11.25
  depth_image_vertical_lines: 64        # Only affects the resolution of the depth image, not the actual number of LiDAR lines.

  depth_image_min_range: 0.2   # Ignore points closer than this distance
  max_raycast_enhancement_range: 80.0 # The r_max in the paper
  raycast_enhancement_depth_margin: 0.2 # The r_m in the paper

  inpaint_size: 4  # weighted average filling params
  erosion_size: 0 # erode the raycast enhancement range to prevent FPs
  min_raycast_enhancement_area: 0.0 # ignore raycast enhancement area smaller than this ratio (compared to the whole image)
  depth_image_top_margin: 0 # prevent depth image disconnected caused by motion distortion

  enable_fov_mask: false # enable the Mij in the paper,  determined by the LiDAR scanning pattern and fixed occlusions
  fov_mask_name: "" # load the fov mask in /config, e.g. velodyne_fov.png

num_threads: 8 # multithread settings