Jca: /* Functions commands (for both SMR and SMRCTL resource) */

2010-09-27T07:37:38Z

Functions commands (for both SMR and SMRCTL resource)

← Older revision		Revision as of 09:37, 27 September 2010
Line 35:		Line 35:
	From the on-line help		From the on-line help

	* device=N Use scanner device N (else default)		device=N Use scanner device N (else default)
	* fake=F Fake data from this device - F=1..4		fake=F Fake data from this device - F=1..4
	* any Use any scan (ignore already used flag)		any Use any scan (ignore already used flag)
	* make Make obstacles from scan		make Make obstacles from scan
	* obst Send findings to obstacle resource		obst Send findings to obstacle resource
	* silent Do not send obstacles to client		silent Do not send obstacles to client
	* list list newest ransac lines		list list newest ransac lines
	* help This message		help This message

	===Configuration example===		===Configuration example===

Jca: New page: RANSAC based obstacle detection that prioritises lines All obstacles are converted to points, lines or convex polygons. The obstacles are saved in the obstacle database 'obst' that is a r...

2010-09-27T07:36:07Z

New page: RANSAC based obstacle detection that prioritises lines All obstacles are converted to points, lines or convex polygons. The obstacles are saved in the obstacle database 'obst' that is a r...

New page

RANSAC based obstacle detection that prioritises lines

All obstacles are converted to points, lines or convex polygons.
The obstacles are saved in the obstacle database 'obst' that is a resource created by the plug-in module ulmspassable.so.0.

Author: Christian Andersen

(for svn version 1100)

===Configuration variables===

* maxToLineDist=0.05 (r/w) max distance to line for members
* minPointsInLine=8 (r/w) Minimum number of measurements in a line
* maxLineIterations=25 (r/w) Max number of iterations to allign line to members
* maxSamples=100 (r/w) Number of samples to determine best supported line
* splitDist=0.15 (r/w) distance to split long line into two (or more)
* minSplitCnt=2 (r/w) if a line is grouped by 'splitDist', then each group must have at least this number of supporting point (set to 0 to disable).
* enableSplit=1 (r/w Enable split, i.e. reduce line to group with most measurements
* lineEatDist=0.03 (r/w) after line generation, regard measurements this close to the line as false measurements
* ignoreIfFixed=0 (r/w) ignore produced obstacles that overlap mapped fixed obstacles
* debugDumpScanOn=0 (rw) at this scan-number will the debugDump flag be set true
* debugDumpScanOff=0 (rw) at this scan-number will the debugDump flag be set false
* noObst=0.33 0.17 -0.2 -0.17 (rw) Area where obstacles are ignored (below robot) front-left (x,y) and back-right (x,y) in robot coordinates

===Result/status variables===

* scan=0 (r) latest scan number processed

===Functions calls ===

none

===Functions commands (for both SMR and SMRCTL resource)===

From the on-line help

* device=N Use scanner device N (else default)
* fake=F Fake data from this device - F=1..4
* any Use any scan (ignore already used flag)
* make Make obstacles from scan
* obst Send findings to obstacle resource
* silent Do not send obstacles to client
* list list newest ransac lines
* help This message

===Configuration example===

Configuration used for indoor smr use.

module load="./aulobst.so.0"
var lobst.minSplitCnt=2
; splitDist defines minimum opening
var lobst.splitDist=0.15
var lobst.maxLineIterations=25
var lobst.maxSamples=100
var lobst.noobst="0.33 0.17 -0.2 -0.17
var lineEatDist=0.03

Laser obstacles - Revision history

Jca: /* Functions commands (for both SMR and SMRCTL resource) */

Jca: New page: RANSAC based obstacle detection that prioritises lines All obstacles are converted to points, lines or convex polygons. The obstacles are saved in the obstacle database 'obst' that is a r...