cartographer/configuration_files/sparse_pose_graph.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.
SPARSE_POSE_GRAPH = {
optimize_every_n_scans = 90,
constraint_builder = {
sampling_ratio = 0.3,
max_constraint_distance = 15.,
adaptive_voxel_filter = {
max_length = 0.9,
min_num_points = 100,
max_range = 50.,
},
min_score = 0.55,
global_localization_min_score = 0.6,
lower_covariance_eigenvalue_bound = 1e-11,
log_matches = true,
fast_correlative_scan_matcher = {
linear_search_window = 7.,
angular_search_window = math.rad(30.),
branch_and_bound_depth = 7,
},
ceres_scan_matcher = {
occupied_space_weight = 20.,
translation_weight = 10.,
rotation_weight = 1.,
covariance_scale = 1e-4,
ceres_solver_options = {
use_nonmonotonic_steps = true,
max_num_iterations = 10,
num_threads = 1,
},
},
fast_correlative_scan_matcher_3d = {
branch_and_bound_depth = 8,
full_resolution_depth = 3,
rotational_histogram_size = 120,
min_rotational_score = 0.77,
linear_xy_search_window = 4.,
linear_z_search_window = 1.,
angular_search_window = math.rad(15.),
},
ceres_scan_matcher_3d = {
occupied_space_weight_0 = 20.,
translation_weight = 10.,
rotation_weight = 1.,
covariance_scale = 1e-6,
only_optimize_yaw = false,
ceres_solver_options = {
use_nonmonotonic_steps = false,
max_num_iterations = 10,
num_threads = 1,
},
},
},
optimization_problem = {
huber_scale = 1e1,
acceleration_weight = 1e4,
rotation_weight = 3e6,
consecutive_scan_translation_penalty_factor = 1e5,
consecutive_scan_rotation_penalty_factor = 1e5,
log_solver_summary = false,
ceres_solver_options = {
use_nonmonotonic_steps = false,
max_num_iterations = 50,
num_threads = 7,
},
},
max_num_final_iterations = 200,
global_sampling_ratio = 0.003,
}