つくば全体の地図作成（2D）

[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

[masakifujiwara1]

以下の内容を行った．

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