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_LASER_RANGE = 60.
TRAJECTORY_BUILDER_3D = {
laser_min_range = 1.,
laser_max_range = MAX_3D_LASER_RANGE,
scans_per_accumulation = 1,
laser_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_LASER_RANGE,
},
ceres_scan_matcher = {
occupied_space_cost_functor_weight_0 = 5.,
occupied_space_cost_functor_weight_1 = 30.,
previous_pose_translation_delta_cost_functor_weight = 0.3,
initial_pose_estimate_rotation_delta_cost_functor_weight = 2e3,
covariance_scale = 2.34e-4,
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,
},
submaps = {
high_resolution = 0.10,
high_resolution_max_range = 20.,
low_resolution = 0.45,
num_laser_fans = 160,
laser_fan_inserter = {
hit_probability = 0.55,
miss_probability = 0.49,
num_free_space_voxels = 2,
},
},
use = "KALMAN", -- or "OPTIMIZING".
kalman_local_trajectory_builder = {
pose_tracker = {
orientation_model_variance = 5e-3,
position_model_variance = 0.00654766,
velocity_model_variance = 0.53926,
-- This disables gravity alignment in local SLAM.
imu_gravity_time_constant = 1e9,
imu_gravity_variance = 0,
num_odometry_states = 1,
},
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,
},
},
optimizing_local_trajectory_builder = {
high_resolution_grid_scale = 5.,
low_resolution_grid_scale = 15.,
velocity_scale = 4e1,
translation_scale = 1e2,
rotation_scale = 1e3,
odometry_translation_scale = 1e4,
odometry_rotation_scale = 1e4,
},
}