lola-sample-cfg.toml

# This is a sample of a config file for the vision subsystem (when running
# it with the `--cfg` flag).
# The config file is in the [toml](https://github.com/toml-lang/toml) format,
# but the vision subsystem does not use a full toml parser, making the order of
# defined config values significant.
#
# THEREFORE, when writing custom config files, MAKE SURE that the ordering of
# the various parameters is as shown in this sample.

[PoseService]
ip = 192.168.0.8
# (The hex port value is equal to the decimal below) port = 0xd001
port = 53249

[RobotService]
ip = 192.168.0.7
port = 61448
# Delay is given in milliseconds. 0 is a valid value.
delay = 10

[Robot]
# The size of the "bubble" in which no modifications or deletions of objects
# are sent to the robot. **In meters**
bubble_size = 1.2

[VideoSource]
# Available types: stream, oni, pcd
#   oni and pcd types require an additional parameter: file_path
type = stream

[RGBViewer]
# Whether to show the camera's RGB stream
# enabled = true|false
enabled = true

[FilteredVideoSource]
# type = simple|prob|pt1
type = simple

  # The following list of filters is optional
  # The order of the filters themselves IS NOT SIGNIFICANT.
  [[FilteredVideoSource.filters]]
    type = SensorCalibrationFilter
    a = 1.0117
    b = -0.0100851

  [[FilteredVideoSource.filters]]
    # The OdoTransformer knows to reference the PoseService found in the IOC
    # container automatically
    type = RobotOdoTransformer

  [[FilteredVideoSource.filters]]
    type = TruncateFilter
    decimal_points = 2

[SplitStrategy]
# split_axis = largest|middle|smallest
split_axis = middle
# A number of split conditions that need to be satisfied in order for an object
# split to occur.
# Care should be taken to define the conditions in a way that guarantees that
# splitting eventually stops for each object (possibly the easiest way is to
# always include the DepthLimit condition with a fairly high depth limit).
# If no split conditions are provided, the objects will never be split.
  [[SplitStrategy.conditions]]
    type = DepthLimit
    depth = 2
  [[SplitStrategy.conditions]]
    type = SizeLimit
    # size is a volume in [cm^3]
    size = 3000
  [[SplitStrategy.conditions]]
    type = ShapeCondition
    # The threshold values to consider something "very much" a sphere
    sphere1 = .8
    sphere2 = .1
    # The threshold value to consider something "very much" a cylinder
    cylinder = .25
  [[SplitStrategy.conditions]]
    type = DistanceThreshold
    # Distance is in [cm]
    distance_threshold = 150

# The list of aggregators is also optional.
# The order of the aggregators themselves IS NOT SIGNIFICANT.
[[aggregators]]
# This sends the obstacles to the LOLA viewer
type = LolaAggregator
ip = 192.168.0.3
port = 53250

[[aggregators]]
# This sends the obstacles to LOLA itself.
# It does not require additional configuration, as it will use the service
# already defined before (RobotService).
type = RobotAggregator
# ...every 30 frames
frame_rate = 30

[Visualization]
# Whether the results are visualized **locally**
# enabled = true|false
enabled = true