99 lines
2.8 KiB
Lua
99 lines
2.8 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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MAX_3D_LASER_RANGE = 60.
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TRAJECTORY_BUILDER_3D = {
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laser_min_range = 1.,
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laser_max_range = MAX_3D_LASER_RANGE,
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scans_per_accumulation = 20,
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laser_voxel_filter_size = 0.15,
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high_resolution_adaptive_voxel_filter = {
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max_length = 2.,
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min_num_points = 150,
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max_range = 15.,
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},
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low_resolution_adaptive_voxel_filter = {
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max_length = 4.,
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min_num_points = 200,
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max_range = MAX_3D_LASER_RANGE,
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},
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ceres_scan_matcher = {
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occupied_space_cost_functor_weight_0 = 5.,
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occupied_space_cost_functor_weight_1 = 30.,
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previous_pose_translation_delta_cost_functor_weight = 0.3,
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initial_pose_estimate_rotation_delta_cost_functor_weight = 2e3,
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covariance_scale = 2.34e-4,
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only_optimize_yaw = false,
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ceres_solver_options = {
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use_nonmonotonic_steps = false,
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max_num_iterations = 12,
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num_threads = 1,
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},
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},
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motion_filter = {
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max_time_seconds = 0.5,
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max_distance_meters = 0.1,
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max_angle_radians = 0.004,
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},
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submaps = {
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high_resolution = 0.10,
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high_resolution_max_range = 20.,
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low_resolution = 0.45,
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num_laser_fans = 160,
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laser_fan_inserter = {
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hit_probability = 0.55,
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miss_probability = 0.49,
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num_free_space_voxels = 2,
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},
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},
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use = "KALMAN", -- or "OPTIMIZING".
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kalman_local_trajectory_builder = {
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pose_tracker = {
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orientation_model_variance = 5e-3,
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position_model_variance = 0.00654766,
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velocity_model_variance = 0.53926,
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-- This disables gravity alignment in local SLAM.
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imu_gravity_time_constant = 1e9,
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imu_gravity_variance = 0,
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num_odometry_states = 1,
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},
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use_online_correlative_scan_matching = false,
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real_time_correlative_scan_matcher = {
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linear_search_window = 0.15,
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angular_search_window = math.rad(1.),
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translation_delta_cost_weight = 1e-1,
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rotation_delta_cost_weight = 1e-1,
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covariance_scale = 1.,
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},
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},
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optimizing_local_trajectory_builder = {
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high_resolution_grid_scale = 5.,
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low_resolution_grid_scale = 15.,
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velocity_scale = 4e1,
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translation_scale = 1e2,
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rotation_scale = 1e3,
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odometry_translation_scale = 1e4,
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odometry_rotation_scale = 1e4,
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},
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}
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