habitat.yaml

# SPDX-FileCopyrightText: 2019-2020 Smart Robotics Lab, Imperial College London
# SPDX-FileCopyrightText: 2019 Anna Dai
# SPDX-FileCopyrightText: 2020 Sotiris Papatheodorou
# SPDX-License-Identifier: CC0-1.0

# Supereight ROS node settings
supereight_ros:
  enable_tracking: false
  enable_rendering: false
  enable_rgb: true
  enable_objects: true
  pose_topic_type: "geometry_msgs::PoseStamped"
  pose_buffer_size: 100
  depth_buffer_size: 10
  rgb_buffer_size: 10
  max_timestamp_diff: 0.02
  center_at_first_position: false
  visualization_rate: 0
  visualization_max_z: 3.5
  visualize_360_raycasting: false
  max_exploration_time: .NaN
  run_segmentation: false
  dataset: "Matterport3D"
  control_interface: "SRL"

# Habitat-ROS node settings
habitat:
  # Sensor settings
  width: 640
  height: 480
  near_plane: 0.1
  far_plane: 20.0
  f: 525.0
  fps: 30
  enable_semantics: true
  depth_noise: false
  allowed_classes: []

  # Scene settings
  scene_file: "habitat_sim/data/scene_datasets/habitat-test-scenes/skokloster-castle.glb"
  initial_T_HB: [-1.80, -19.25, 1.00]
  pose_frame_id: "world"
  pose_frame_at_initial_T_HB: true

  # Visualization settings
  visualize_semantics: true

# Simple MAV simulator settings
habitat_mav_sim:
  sim_freq: 60
  a_max: [1.0, 1.0, 0.5]
  w_max: [0.1, 0.1, 0.05]
  world_frame_id: "world"

# Supereight settings
supereight:
  general:
    sequence_name:              "habitat_skokloster_castle"
    sequence_type:              "ros"
    log_path:                   "$ROS_LOG_DIR/latest/logs"
    output_render_path:         "$ROS_LOG_DIR/latest/renders"
    enable_meshing:             true
    output_mesh_path:           "$ROS_LOG_DIR/latest/meshes"
    # Rates
    tracking_rate:              1
    integration_rate:           1
    rendering_rate:             0
    meshing_rate:               50
    fps:                        0.0
    # Other
    drop_frames:                false
    max_frame:                  -1
    icp_threshold:              1e-5
    bilateral_filter:           false
    pyramid:                    [10, 5, 4]

  map:
    size:                       1024
    dim:                        40.96
    t_MW_factor:                [0.501, 0.501, 0.501]
    sampling_min_W:             [-10000, -10000, -10000]
    sampling_max_W:             [ 10000,  10000,  10000]
    frontier_cluster_min_volume: 0.015625

  sensor:
    intrinsics:                 [525, 525, 319.5, 239.5]
    downsampling_factor:        2
    T_BC:                       [ 0.0,  0.0, 1.0, 0.0,
                                 -1.0,  0.0, 0.0, 0.0,
                                  0.0, -1.0, 0.0, 0.0,
                                  0.0,  0.0, 0.0, 1.0]
    init_T_WB:                  [1, 0, 0, 0,
                                 0, 1, 0, 0,
                                 0, 0, 1, 0,
                                 0, 0, 0, 1]
    near_plane:                 0.1
    far_plane:                  10.0

  exploration:
    enable_exploration:        true
    num_candidates:            20
    frontier_sampling_probability: 0.5
    utility_weights:           [0.34, 0.33, 0.33]
    use_pose_history:          true
    raycast_width:             36
    raycast_height:            10
    linear_velocity:           1.5
    angular_velocity:          0.75
    robot_radius:              0.125
    skeleton_sample_precision: 0.05
    solving_time:              0.1


# WARNING: Any voxel parameters added in this file will be ignored. Change the
# defaults if you need different values.