# -----------------------------------------------------------------------------
# SLAM system definition for MOLA
# This file defines:
# a 3D LiDAR-SLAM problem, fed from a Kitti dataset.
# -----------------------------------------------------------------------------
modules:
# Setup of visualizer =====================================
- name: viz
type: mola::MolaViz
#verbosity_level: DEBUG
params: ~ # none
# Setup of SLAM back-end =====================================
- type: mola::ASLAM_gtsam
name: backend
execution_rate: 1 # Rate to update the SLAM solution [Hz]
#verbosity_level: INFO
params: $include{$(mola-dir mola-slam-gtsam)/params/aslam-se3.yaml}
# Setup of World Model (the map) =====================================
- type: mola::WorldModel
name: map
#verbosity_level: DEBUG
params:
# Age at which map keyframes will be unloaded from memory [s]
age_to_unload_keyframes: 25.0
# Setup of SLAM front-ends ====================================
- type: mola::LidarOdometry
name: lidar_fe
raw_data_source: kitti_input
raw_sensor_label: lidar
#verbosity_level: DEBUG
params: $include{$(mola-dir mola-fe-lidar)/params/kitti-default.yaml}
# Offline or online sensory data sources =====================
- type: mola::KittiOdometryDataset
name: kitti_input
execution_rate: 20 # Hz
verbosity_level: INFO
gui_preview_sensors:
- raw_sensor_label: lidar
decimation: 1
win_pos: 5 5 400 400
- raw_sensor_label: image_0
decimation: 1
win_pos: 5 410 400 130
params:
base_dir: ${KITTI_BASE_DIR}
sequence: ${KITTI_SEQ}
time_warp_scale: 1.0
publish_lidar: true
publish_image_0: true
publish_image_1: false