【cartographer】assets_writer的lua文件配置

最近研究cartographer的3d建图，发现用3d建图直接生成的pbstream转出来的pgm图没有白色可行区域，就顺着找到了assets_writer。虽然研究完了以后觉得没有白色区域极大可能是因为我只用了一个水平方向的多线雷达，如果加一个纵向的多线雷达可能好了（有时间再试试），不过怕我以后要用的时候忘记，所以在这里记录一下。

如果文章有误，欢迎在评论区指出讨论。

---

总览

VOXEL_SIZE = 5e-2

include "transform.lua"

options = {
  tracking_frame = "base_link",
  pipeline = {
    {
      action = "min_max_range_filter",
      min_range = 0.5,
      max_range = 30.,
    },
    {
      action = "dump_num_points",
    },
    {
      action = "color_points",
      frame_id = "base_footprint",
      color = {255., 0., 0.},
    },

    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_yz_all_color",
      transform = YZ_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xy_all_color",
      transform = XY_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xz_all_color",
      transform = XZ_TRANSFORM,
    },
    {
      action = "write_ply",
      filename = "points.ply"
    },
    {
      action = "write_probability_grid", 
      resolution = 0.05, 
      range_data_inserter = { 
        insert_free_space = true, 
        hit_probability = 0.55, 
        miss_probability = 0.49, 
      }, 
      draw_trajectories = false, 
      output_type = "png", 
      filename = "map" 
    },
  }
}

return options

下面只涉及到pipeline里的内容

1、min_max_range_filter

	{
      action = "min_max_range_filter",
      min_range = 0.5,
      max_range = 30.,
    },

点云数据距离的过滤器，没什么好说的

2、color_points

	{
      action = "color_points",
      frame_id = "laser_link",
      color = {255., 0., 0.},
    },

对frame_id下的点云数据进行染色，color里是rgb值，可以用来区分不同雷达的点云数据，要写在后文提到的action的前面才能染色

3、write_xray_image

	{
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_yz_all_color",
      transform = YZ_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xy_all_color",
      transform = XY_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xz_all_color",
      transform = XZ_TRANSFORM,
    },

输出一个.png文件，相当于给点云图在transform的角度拍张照。transform的格式如下：

XY_TRANSFORM =  {
  translation = { 0., 0., 0. },
  rotation = { 0., -math.pi / 2., 0., },
}

4、write_ply

	{
      action = "write_ply",
      filename = "points.ply"
    },

输出.ply格式文件

5、write_pcd

	{
      action = "write_pcd",
      filename = "points.pcd"
    },

输出.pcd格式文件

6、write_xyz

	{
      action = "write_xyz",
      filename = "points.xyz"
    },

输出.xyz格式文件

7、write_probability_grid

	{
      action = "write_probability_grid", 
      resolution = 0.05, 
      range_data_inserter = { 
        insert_free_space = true, 
        hit_probability = 0.55, 
        miss_probability = 0.49, 
      }, 
      draw_trajectories = false, 
      output_type = "png", 
      filename = "map" 
    },

输出概率栅格文件，output_type可选png和pb（似乎pb已经不用了）