-- 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.

include "trajectory_builder_3d.lua"
include "sparse_pose_graph.lua"

options = {
  sparse_pose_graph = SPARSE_POSE_GRAPH,
  trajectory_builder = TRAJECTORY_BUILDER_3D,
}

options.sparse_pose_graph.optimize_every_n_scans = 320
options.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
options.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10
-- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
-- constraints.
options.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
options.sparse_pose_graph.constraint_builder.min_score = 0.62
options.sparse_pose_graph.constraint_builder.log_matches = true

return options