#------------------------------------------------------ # Config file for the KF-SLAM application # See: https://www.mrpt.org/list-of-mrpt-apps/application-kf-slam/ #------------------------------------------------------ #------------------------------------------------- # Section: [MappingApplication] # Use: Here comes global parameters for the app. #------------------------------------------------- [MappingApplication] # Implementation to use: # - CRangeBearingKFSLAM # - CRangeBearingKFSLAM2D # kf_implementation = CRangeBearingKFSLAM2D # Left blank if not available ground_truth_file= # Left blank if not available ground_truth_file_robot= # The directory where the log files will be saved (left in blank if no log is required) logOutput_dir=LOG_EKF-SLAM SAVE_LOG_FREQUENCY=10 SHOW_3D_LIVE = true CAMERA_3DSCENE_FOLLOWS_ROBOT = true # ---------------------------------------------------------- # Kalman Filter generic options # ---------------------------------------------------------- [RangeBearingKFSLAM_KalmanFilter] # 0: Full EKF # 1: EKF 'a la' Davison method=0 verbose=1 #------------------------------------------------- # Options defined by CRangeBearingKFSLAM class #------------------------------------------------- [RangeBearingKFSLAM] stdXY_no_odo=0.1 stdPhi_no_odo_deg=2 // degs std_odo_z_additional=0 // Additional uncertainty in z force_ignore_odometry = false # Used for the sensor model std_sensor_range = 0.03 // meters std_sensor_yaw_deg = 0.1 // degrees std_sensor_pitch_deg = 0.1 // degrees # Exagerate the uncertainties for ease of visualization: quantiles_3D_representation=3