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
242 B
YAML
9 lines
242 B
YAML
# Medium room with obstacles for SLAM testing (8m x 8m)
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# Obstacles: table (2,2), pillar (6,2), L-shape (5,5), small box (2,6)
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image: medium_room.pgm
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resolution: 0.05
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origin: [0.0, 0.0, 0.0]
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negate: 0
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occupied_thresh: 0.65
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free_thresh: 0.196
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