LILocBench/config/config.yaml at main · PRBonn/LILocBench · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
sequences:
- name: dynamics_1  # 133 s
  start_times:
    - 0.0
    - 30.0
    - 60.0
- name: dynamics_2  # 163 s
  start_times:
    - 0.0
    - 30.0
    - 60.0
- name: dynamics_3  # 569 s
  start_times:
    - 0.0
    - 120.0
    - 240.0
- name: dynamics_4  # 233 s
  start_times:
    - 0.0
    - 60.0
    - 120.0
- name: lt_changes_1  # 247 s
  start_times:
    - 0.0
    - 60.0
    - 120.0
- name: lt_changes_2  # 325 s
  start_times:
    - 0.0
    - 60.0
    - 120.0
- name: lt_changes_3  # 459 s
  start_times:
    - 0.0
    - 120.0
    - 240.0
- name: lt_changes_4  # 1009 s
  start_times:
    - 0.0
    - 240.0
    - 480.0
- name: lt_changes_5  # 207 s
  start_times:
    - 0.0
    - 30.0
    - 60.0
- name: lt_changes_dynamics_1  # 646 s
  start_times:
    - 0.0
    - 120.0
    - 240.0
- name: static_1  # 715 s
  start_times:
    - 0.0
    - 120.0
    - 240.0
- name: static_2  # 174 s
  start_times:
    - 0.0
    - 30.0
    - 60.0
- name: static_3  # 204 s
  start_times:
    - 0.0
    - 30.0
    - 60.0
- name: static_4  # 299 s
  start_times:
    - 0.0
    - 60.0
    - 120.0
- name: static_5  # 99 s
  start_times:
    - 0.0
    - 30.0
    - 60.0
- name: static_6  # 762 s
  start_times:
    - 0.0
    - 120.0
    - 240.0

scoring:
  thresholds:
    - transl: 0.02
      rot: 1.0 # degree
      score: 100
    - transl: 0.04
      rot: 2.0 # degree
      score: 80
    - transl: 0.06
      rot: 3.0 # degree
      score: 60
    - transl: 0.08
      rot: 4.0 # degree
      score: 40
    - transl: 0.1
      rot: 5.0 # degree
      score: 20
    - transl: 0.2
      rot: 10.0 # degree
      score: 10

checks:
  max_stamp_deviation:  5.0 # in seconds, display warning for larger deviation of localizer timestamps at start and end compared to ground truth

plots:
  time_step: 0.1 # time resolution for time series plots
  plot_errors:
    time_max: 60.0
    max_transl: 5.0
  plot_convergence:
    time_max: 60.0
    min_duration: 3.0 # s, for how long the convergence bounds must be met
    transl_bound: 0.1
    rot_bound: 5.0 # degree