codetiger
4270670fc7
Replace old monolithic modules (extraction, features, integration, loop_closure, matching, vector_map, cbvg) with new streamlined architecture including grid, slam, pathfinding, submap, and io modules. Simplify core types and exploration controller.
9 lines
320 B
YAML
9 lines
320 B
YAML
# Narrow corridor for degenerate geometry testing (1m x 10m)
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# Tests ICP behavior with only parallel walls visible
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image: corridor.pgm
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resolution: 0.05 # 5cm per pixel
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origin: [0.0, 0.0, 0.0] # Origin at bottom-left
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negate: 0 # 0 = white is free, black is occupied
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occupied_thresh: 0.65
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free_thresh: 0.196
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