つくば全体の地図作成（2D）

[masakifujiwara1]

[masakifujiwara1]

@haruyama8940：pcdをz軸方向に圧縮し，2次元地図を作成
@masakifujiwara1：従来通り，パラメータ調整してslamから2次元地図を作成

[masakifujiwara1]

cartographerで2次元地図を作成した（docker branch:cartographer-tsukuba2023）．
まず， #18 でdemo_box_3d.launch.pyを用いてmap.pbstreamを作成した．
次に，assets_writer_box_3d.launch.pyを用いて，map.pbstreamの軌跡データに基づいて，3次元点群を配置，その際点群にフィルタを掛けて2次元地図を作成した．

今回は，2次元地図を作成する際のフィルタのパラメータを変更した．
以下に，使用したパラメータを示す（assets_writer_box_3d.lua）．

VOXEL_SIZE = 8e-2 --5e-2

include "transform.lua"

options = {
tracking_frame = "imu",
pipeline = {
{
action = "min_max_range_filter",
min_range = 0.8,
max_range = 120.,
},
{
action = "dump_num_points",
},

{
  action = "voxel_filter_and_remove_moving_objects",
  voxel_size = VOXEL_SIZE,
},

{
  action = "intensity_to_color",
  min_intensity = 0.,
  max_intensity = 127.,
},

{
  action = "vertical_range_filter",
  min_z = -0.2,
  max_z = 0.5
},

-- {
-- action = "write_xray_image",
-- voxel_size = VOXEL_SIZE,
-- filename = "xray_yz_all_color",
-- transform = YZ_TRANSFORM,
-- },
-- {
-- action = "write_xray_image",
-- voxel_size = VOXEL_SIZE,
-- filename = "xray_xy_all_color",
-- transform = XY_TRANSFORM,
-- },
-- {
-- action = "write_xray_image",
-- voxel_size = VOXEL_SIZE,
-- filename = "xray_xz_all_color",
-- transform = XZ_TRANSFORM,
-- },
-- {
-- action = "write_pcd",
-- filename = "cartographer.pcd",
-- },
{
action = "write_probability_grid",
draw_trajectories = false,
resolution = 0.10,
range_data_inserter = {
insert_free_space = true,
hit_probability = 0.55,
miss_probability = 0.49,
},
filename = "probability_grid",
},
}
}

return options

[masakifujiwara1]

以下にパラメータ調整前後の2次元地図を示す．

調整前

調整後