fix

Author: Aryan-Naveen

config/datasets/uhumans2_khronos.yaml

@@ -0,0 +1,194 @@
+---
+paths: [khronos, khronos_ros]
+map_window:
+  type: spatial
+  max_radius_m: &spatial_window 8.0
+  window_sec: &temporal_window 3.0
+active_window:
+  type: ActiveWindow
+  full_update_separation_s: 0.2
+  volumetric_map:
+    voxels_per_side: 16
+    voxel_size: 0.1
+    truncation_distance: 0.3
+    with_semantics: true  # Enable semantic layer for object detection
+  projective_integrator:
+    semantic_integrator: {type: SingleLabelIntegrator}
+  object_detector:
+    type: ConnectedSemantics
+    min_cluster_size: 50  # pixels
+    use_full_connectivity: true
+    use_3d: true
+    grid_size: 0.1  # m
+    max_range: 5  # m, 0 for infinite.
+  tracker:
+    type: MaxIouTracker
+    track_by: voxels   # 'pixels', 'voxels', 'bounding_box'
+    active_window_mode: spatial   # "temporal", "spatial"
+    min_semantic_iou: 0.25
+    min_cross_iou: 0.1
+    voxel_size: 0.2  # m
+    min_num_observations: 15
+  object_extractor:
+    type: MeshObjectExtractor
+    min_object_allocation_confidence: 0.5
+    min_object_volume: 0.005  # m^3
+    max_object_volume: 10.0  # m^3
+    only_extract_reconstructed_objects: true  # used to be false
+    min_object_reconstruction_confidence: 0.5
+    min_object_reconstruction_observations: 0  # Can use higher for very noisy detections.
+    object_reconstruction_resolution: -0.02  # Positive: voxel size in meters. Negative: fraction of the extent. 0: Skip. (-0.02)
+    projective_integrator:
+      num_threads: 8  # NOTE(lschmid): Test less threads for parallel object extraction.
+  map_window:
+    type: spatial
+    max_radius_m: *spatial_window
+    window_sec: *temporal_window
+frontend:
+  enable_mesh_objects: false
+  pgmo:
+    time_horizon: 15.0
+    d_graph_resolution: 2.5
+    mesh_resolution: 0.005
+  objects:
+    min_cluster_size: 40
+    cluster_tolerance: 0.25
+  graph_updater:
+    layer_updates:
+      OBJECTS:
+        prefix: O
+        matcher: {type: IoUNodeMatcher, min_same_iou: 0.2, min_cross_iou: 0.5}
+        merger: {type: LatestAttributeMerger}
+  surface_places:
+    type: place_2d
+    prefix: P
+    pure_final_place_size: 1
+    cluster_tolerance: .3
+    min_cluster_size: 50
+    max_cluster_size: 100000
+    min_final_place_points: 10
+    place_max_neighbor_z_diff: .5
+    place_overlap_threshold: 0.0
+  traversability_places:
+    type: traversability
+    estimator:
+      type: HeightTraversabilityEstimator
+      height_below: 0
+      height_above: 0.5
+      min_confidence: 1.0
+      min_traversability: 1.0
+      pessimistic: true
+    clustering:
+      type: BlockTraversabilityClustering
+      min_place_width: &min_place_width 0.5  # m
+      max_place_width: &max_place_width 1.0  # m
+      recursive: true
+      simplify_boundary_traversability: false
+    sinks:
+      - type: TraversabilityVisualizer
+  freespace_places:
+    type: gvd
+    filter_places: true
+    min_places_component_size: 3
+    filter_ground: false
+    gvd:
+      max_distance_m: 4.5
+      min_distance_m: 0.2
+      min_diff_m: 0.1
+      voronoi_config:
+        mode: L1_THEN_ANGLE
+        min_distance_m: 0.30
+        parent_l1_separation: 20
+        parent_cos_angle_separation: 0.2
+    graph:
+      type: CompressionGraphExtractor
+      compression_distance_m: 1.5
+      min_node_distance_m: 0.4
+      min_edge_distance_m: 0.25
+      node_merge_distance_m: 0.7
+      merge_policy: distance
+    tsdf_interpolator:
+      type: downsample
+      ratio: 2
+  frontier_places:
+    # type: voxel_clustering
+    cluster_tolerance: 0.3
+    min_cluster_size: 10
+    max_cluster_size: 100000
+    max_place_radius: 5
+    dense_frontiers: false
+    frontier_splitting_threshold: 0.2
+    point_threshold: 10
+    recent_block_distance: 25
+    minimum_relative_z: -1.
+    maximum_relative_z: 1
+backend:
+  add_places_to_deformation_graph: true
+  optimize_on_lc: true
+  enable_node_merging: true
+  update_functors:
+    agents:
+      type: UpdateAgentsFunctor
+    objects:
+      type: GenericUpdateFunctor
+      layer: OBJECTS
+      matcher:
+        type: DistanceNodeMatcher
+        pos_threshold_m: 1.5
+      merge_proposer:
+        type: SemanticNearestNode
+        pos_threshold_m: 1.5
+    surface_places:
+      type: Update2dPlacesFunctor
+    places:
+      type: UpdatePlacesFunctor
+    traversability:
+      type: UpdateBlockTraversabilityFunctor
+      min_place_size: *min_place_width
+                                       # m
+      max_place_size: *max_place_width
+                                       # m
+      use_metric_distance: false
+      tolerance: 0.1  # m
+    frontiers:
+      type: UpdateFrontiersFunctor
+    rooms:
+      type: UpdateRoomsFunctor
+      room_finder:
+        min_dilation_m: 0.5
+        max_dilation_m: 1.2
+        min_component_size: 10
+        min_room_size: 10
+        dilation_threshold_mode: PLATEAU
+        min_lifetime_length_m: 0.1
+        plateau_ratio: 0.15
+        clustering_mode: NEIGHBORS
+        dilation_diff_threshold_m: -1.0
+    buildings:
+      type: UpdateBuildingsFunctor
+    zmq_labels:
+      type: ZmqRoomLabelUpdater
+  pgmo:
+    run_mode: FULL  # kimera_pgmo run mode FULL is required
+    embed_trajectory_delta_t: 5.0
+    num_interp_pts: 3
+    interp_horizon: 10.0
+    optimizer:
+      type: KimeraRpgoOptimizer
+      solver: LM
+      gnc:
+        inlier_probability: 0.9
+        mu_step: 1.6
+        max_iterations: 100
+    add_initial_prior: true
+    covariance:
+      odom: 1.0e-02
+      loop_close: 5.0e-02
+      sg_loop_close: 1.0e-01
+      prior: 1.0e-02
+      mesh_mesh: 1.0e-02
+      pose_mesh: 1.0e-02
+      place_mesh: 1.0e-02
+      place_edge: 10.0
+      place_merge: 10.0
+      object_merge: 10.0

include/hydra/frontend/graph_builder.h

@@ -86,7 +86,7 @@ class GraphBuilder : public Module {
       double d_graph_resolution = 1.5;
       double time_horizon = 10.0;
     } pgmo;
-    GraphUpdater::Config graph_updater{{{DsgLayers::OBJECTS, {'O', std::nullopt, {}}}}};
+    GraphUpdater::Config graph_updater{{{DsgLayers::OBJECTS, {'O', std::nullopt, {}, {}}}}};
     GraphConnector::Config graph_connector;
     bool enable_mesh_objects = true;
     MeshSegmenter::Config object_config;