config.yaml

ros:
  # frame which input cloud is (transformed into and) processed, in this case it should be colocated with base_footprint and aligned with gravity
  fixed_frame_id: map
  # doesnt work rn
  pub_viz: True
preanalysis:
  # Set if downsample active
  dsFlag: True
  # Set downsample resolution
  dsResolution: 0.01
  # Normal estimation - find N neareast neighbors (:=0) - find points within distance (very slow) (:=1)
  neNeighMethod: 0
  neSearchNeighbours: 24
  neSearchRadius: 0.2
  # Ghost point filter active?
  gpFlag: False
  # Ghost point filter angle in degress
  # gpAngle: 10.0
  gpAngle: 25.0
  #gpAngle: 45.0
  # Point normal filter active?
  pfActive: False
  # Point normal filter angle in degress
  pfAngle: 20.0
  # Floor seperation active?
  fsActive: False
  # Floor seperation angle in degrees
  fsAngle: 30.0
  # Floor seperation distance
  fsRange: 0.05
  # Set the position of the LIDAR (required for floor separation)
  rob_x: 0.00
  rob_y: 0.00
  rob_z: 0.00
  # Rotate pointcloud around z-axis
  robAngle: 0
  # Downsample method - Standard: flase - Experimental version: true
  dsMethod: False
  # Process ghost point filter and floor separation in separate steps
  neMethod: 0
# 0 = Region Growing (recommended), 1 = Voxel SAC, 2 = Split & Merge
segmentationmode: 0
regiongrowing:
  # Minimum cluster size 
  minClustSize: 30
  # Number of neighbors
  noNeigh: 24
  # Smoothness flag (true: compare to seed point false: compare to neighboring point) 
  smoothFlag: False
  # Smoothness threshold 
  smoothThresh: 50.0 
  # Residual flag (true: compare to seed point false: compare to neighboring point) 
  resFlag: True
  # Residual distance 
  resThresh: 0.08 
  # Curvature flag 
  curvFlag: False
  # Curvature threshold (max)
  curvThresh: 0.1
  # Update seed point during growing 
  updateFlag: True
  # Update pointwise 
  pointUpdateFlag: True
  # If not pointwise, update every: 
  updateInterval: 100