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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

Fig. 24 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