Height Mapping Configuration

The default mapping configuration file is installed under the /usr/share/slamcore/presets/mapping/default.json path. The following parameters can be used to change the settings for generating a height/occupancy map. Specify the parameter values based on your setup.

Parameters

Default Value

Type

Base.EnableFeatureMap2D

true

String

Mapping.HeightMapper.MaxMapDimensions

100.0

Float

Mapping.HeightMapper.CellSize

0.05

Float

Mapping.HeightMapper.OccupancyExtraction.Method

"Gradient"

String

Mapping.HeightMapper.OccupancyExtraction.Height.HeightThreshold

-0.25

Float

Mapping.HeightMapper.OccupancyExtraction.Gradient.GradientThreshold

1.0

Float

_images/visualiser_mapping_occupancy_map_high_resolution.png

Fig. 23 SLAMcore Visualiser - High resolution occupancy map

EnableFeatureMap2D

Mapping features must already turned on using the -m flag on SLAMcore Tools or generate_map2d:=true ROS parameter, but the EnableFeatureMap2D field can be set to true as well.

Height Mapping Parameters

  • MaxMapDimensions
    • Type: Float

    • Default: 100.0 (100 m × 100 m)

    • Description: Maximum square area to map (in metres), with the starting position as the centre.

  • CellSize
    • Type: Float

    • Default: 0.05

    • Description: Resolution/Size (in metres) of each grid cell. Keep it above the minimum

      value of 0.025 as extremely high resolution is computationally expensive and require the camera to be close to the surface.

Occupancy Extraction Parameters

See Occupancy Map for further explanation.

  • Method
    • Type: String

    • Default: “Gradient”

    • Description: Changes the occupancy map extraction method.

    • Options:
      • "Gradient" (Default)

        Extract the occupancy map based on the height gradient at each pixel of the map.

      • "Height"

        Extract the occupancy map based on the height at each pixel of the map.

  • HeightThreshold
    • Type: Float

    • Default: -0.25

  • GradientThreshold
    • Type: Float

    • Default: 1.0