SensorSimulator/config/config.yaml at RandomScene · TJU-Aerial-Robotics/SensorSimulator · GitHub

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odom_topic: "/sim/odom"
depth_topic: "/depth_image"
lidar_topic: "/lidar_points"

render_depth: true
depth_fps: 30

render_lidar: true
lidar_fps: 10

random_map: true       # 使用点云地图还是随机地图
resolution: 0.1        # 地图分辨率

# 点云地图
ply_file: "/home/lu/4.swarm_mission/SensorSimulator/src/SensorSimulator/pointcloud/forest.ply"
expand_x_times: 0      # x方向复制次数（cuda版不使用）
expand_y_times: 0      # y方向复制次数（cuda版不使用）
occupy_threshold: 0    # 大于多少个点才认为占据（cpu版不使用）

# 随机地图
seed: 1
x_length: 40
y_length: 40
z_length: 6
maze_type: 1           # 1: 溶洞 2: 柱子 3:迷宫 5:森林 6:房间
# 溶洞
complexity: 0.02       # 复杂的 0.0-0.5
fill: 0.1              # 填充率 0.0-0.4
fractal: 1
attenuation: 0.1
# 柱子
width_min: 0.6
width_max: 1.5
obstacle_number: 100
# 迷宫
road_width: 3
add_wall_x: 1
add_wall_y: 1
# 森林
tree_file: "/home/lu/4.swarm_mission/SensorSimulator/src/SensorSimulator/pointcloud/tree.ply"
tree_dist: 8
# 房间
room_number: 4         # 每个方向上的房间数 (房间大小 = x_length / room_number)
max_windows: 2         # 每面墙最多窗口数
window_size_min: 2.0
window_size_max: 2.8
add_ceiling: 0         # 是否添加天花板

# 传感器参数
camera:
  fx: 160.0             # focal length x
  fy: 160.0             # focal length y
  cx: 160.0             # principal point x (image center)
  cy: 90.0              # principal point y (image center)
  image_width: 320
  image_height: 180
  max_depth_dist: 20.0
  normalize_depth: false
  pitch: -0.0          # 相机相对机体的俯仰角 (仰为负, cpu版尚未添加)

lidar:
  vertical_lines: 16             # 纵向16线
  vertical_angle_start: -15.0    # 起始垂直角度
  vertical_angle_end: 15.0       # 结束垂直角度
  horizontal_num: 360            # 水平360点
  horizontal_resolution: 1.0     # 水平分辨率为1度，horizontal_resolution * horizontal_num = 360
  max_lidar_dist: 20.0