cartographer/configuration_files/trajectory_builder_3d.lua

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-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
-- http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.
MAX_3D_RANGE = 60.
INTENSITY_THRESHOLD = 40
TRAJECTORY_BUILDER_3D = {
min_range = 1.,
max_range = MAX_3D_RANGE,
num_accumulated_range_data = 1,
voxel_filter_size = 0.15,
high_resolution_adaptive_voxel_filter = {
max_length = 2.,
min_num_points = 150,
max_range = 15.,
},
low_resolution_adaptive_voxel_filter = {
max_length = 4.,
min_num_points = 200,
max_range = MAX_3D_RANGE,
},
use_online_correlative_scan_matching = false,
real_time_correlative_scan_matcher = {
linear_search_window = 0.15,
angular_search_window = math.rad(1.),
translation_delta_cost_weight = 1e-1,
rotation_delta_cost_weight = 1e-1,
},
ceres_scan_matcher = {
occupied_space_weight_0 = 1.,
occupied_space_weight_1 = 6.,
intensity_cost_function_options_0 = {
weight = 0.5,
huber_scale = 0.3,
intensity_threshold = INTENSITY_THRESHOLD,
},
translation_weight = 5.,
rotation_weight = 4e2,
only_optimize_yaw = false,
ceres_solver_options = {
use_nonmonotonic_steps = false,
max_num_iterations = 12,
num_threads = 1,
},
},
motion_filter = {
max_time_seconds = 0.5,
max_distance_meters = 0.1,
max_angle_radians = 0.004,
},
rotational_histogram_size = 120,
-- TODO(schwoere,wohe): Remove this constant. This is only kept for ROS.
imu_gravity_time_constant = 10.,
pose_extrapolator = {
use_imu_based = false,
constant_velocity = {
imu_gravity_time_constant = 10.,
pose_queue_duration = 0.001,
},
-- TODO(wohe): Tune these parameters on the example datasets.
imu_based = {
pose_queue_duration = 5.,
gravity_constant = 9.806,
pose_translation_weight = 1.,
pose_rotation_weight = 1.,
imu_acceleration_weight = 1.,
imu_rotation_weight = 1.,
odometry_translation_weight = 1.,
odometry_rotation_weight = 1.,
solver_options = {
use_nonmonotonic_steps = false;
max_num_iterations = 10;
num_threads = 1;
},
},
},
submaps = {
high_resolution = 0.10,
high_resolution_max_range = 20.,
low_resolution = 0.45,
num_range_data = 160,
range_data_inserter = {
hit_probability = 0.55,
miss_probability = 0.49,
num_free_space_voxels = 2,
intensity_threshold = INTENSITY_THRESHOLD,
},
},
-- When setting use_intensites to true, the intensity_cost_function_options_0
-- parameter in ceres_scan_matcher has to be set up as well or otherwise
-- CeresScanMatcher will CHECK-fail.
use_intensities = false,
}