cartographer/configuration_files/trajectory_builder_2d.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.
TRAJECTORY_BUILDER_2D = {
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use_imu_data = true,
min_range = 0.,
max_range = 30.,
min_z = -0.8,
max_z = 2.,
missing_data_ray_length = 5.,
num_accumulated_range_data = 1,
voxel_filter_size = 0.025,
adaptive_voxel_filter = {
max_length = 0.5,
min_num_points = 200,
max_range = 50.,
},
loop_closure_adaptive_voxel_filter = {
max_length = 0.9,
min_num_points = 100,
max_range = 50.,
},
use_online_correlative_scan_matching = false,
real_time_correlative_scan_matcher = {
linear_search_window = 0.1,
angular_search_window = math.rad(20.),
translation_delta_cost_weight = 1e-1,
rotation_delta_cost_weight = 1e-1,
},
ceres_scan_matcher = {
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occupied_space_weight = 1.,
translation_weight = 10.,
rotation_weight = 40.,
ceres_solver_options = {
use_nonmonotonic_steps = false,
max_num_iterations = 20,
num_threads = 1,
},
},
motion_filter = {
max_time_seconds = 5.,
max_distance_meters = 0.2,
max_angle_radians = math.rad(1.),
},
imu_gravity_time_constant = 10.,
submaps = {
num_range_data = 90,
grid_options_2d = {
grid_type = "PROBABILITY_GRID",
resolution = 0.05,
},
range_data_inserter = {
range_data_inserter_type = "PROBABILITY_GRID_INSERTER_2D",
probability_grid_range_data_inserter = {
insert_free_space = true,
hit_probability = 0.55,
miss_probability = 0.49,
},
},
},
}