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,
horizontal_laser_min_z = -0.8,
horizontal_laser_max_z = 2.,
horizontal_laser_voxel_filter_size = 0.025,
use_online_correlative_scan_matching = false,
adaptive_voxel_filter = {
max_length = 0.5,
min_num_points = 200,
max_range = 50.,
},
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 = {
occupied_space_cost_functor_weight = 20.,
previous_pose_translation_delta_cost_functor_weight = 1.,
initial_pose_estimate_rotation_delta_cost_functor_weight = 1e2,
covariance_scale = 2.34e-4,
ceres_solver_options = {
use_nonmonotonic_steps = true,
max_num_iterations = 50,
num_threads = 1,
},
},
motion_filter = {
max_time_seconds = 5.,
max_distance_meters = 0.2,
max_angle_radians = math.rad(1.),
},
pose_tracker = {
orientation_model_variance = 5e-4,
position_model_variance = 0.000654766,
velocity_model_variance = 0.053926,
imu_gravity_time_constant = 10.,
imu_gravity_variance = 1e-6,
num_odometry_states = 1000,
},
submaps = {
resolution = 0.05,
half_length = 200.,
num_laser_fans = 90,
output_debug_images = false,
laser_fan_inserter = {
insert_free_space = true,
hit_probability = 0.55,
miss_probability = 0.49,
},
},
}