33 lines
1.3 KiB
Lua
33 lines
1.3 KiB
Lua
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-- Copyright 2016 The Cartographer Authors
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--
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-- Licensed under the Apache License, Version 2.0 (the "License");
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-- you may not use this file except in compliance with the License.
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-- You may obtain a copy of the License at
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--
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-- http://www.apache.org/licenses/LICENSE-2.0
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--
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-- Unless required by applicable law or agreed to in writing, software
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-- distributed under the License is distributed on an "AS IS" BASIS,
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-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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-- See the License for the specific language governing permissions and
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-- limitations under the License.
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include "trajectory_builder_3d.lua"
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include "sparse_pose_graph.lua"
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options = {
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sparse_pose_graph = SPARSE_POSE_GRAPH,
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trajectory_builder = TRAJECTORY_BUILDER_3D,
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}
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options.sparse_pose_graph.optimize_every_n_scans = 320
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options.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
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options.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10
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-- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
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-- constraints.
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options.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
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options.sparse_pose_graph.constraint_builder.min_score = 0.62
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options.sparse_pose_graph.constraint_builder.log_matches = true
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return options
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