102 lines
2.7 KiB
Lua
102 lines
2.7 KiB
Lua
-- 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_RANGE = 60.
|
|
|
|
TRAJECTORY_BUILDER_3D = {
|
|
min_range = 1.,
|
|
max_range = MAX_3D_RANGE,
|
|
num_accumulated_range_data = 1,
|
|
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_RANGE,
|
|
},
|
|
|
|
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,
|
|
},
|
|
|
|
ceres_scan_matcher = {
|
|
occupied_space_weight_0 = 1.,
|
|
occupied_space_weight_1 = 6.,
|
|
translation_weight = 5.,
|
|
rotation_weight = 4e2,
|
|
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,
|
|
},
|
|
|
|
rotational_histogram_size = 120,
|
|
|
|
-- TODO(schwoere,wohe): Remove this constant. This is only kept for ROS.
|
|
imu_gravity_time_constant = 10.,
|
|
pose_extrapolator = {
|
|
use_imu_based = false,
|
|
constant_velocity = {
|
|
imu_gravity_time_constant = 10.,
|
|
pose_queue_duration = 0.001,
|
|
},
|
|
-- TODO(wohe): Tune these parameters on the example datasets.
|
|
imu_based = {
|
|
pose_queue_duration = 5.,
|
|
gravity_constant = 9.806,
|
|
pose_translation_weight = 1.,
|
|
pose_rotation_weight = 1.,
|
|
imu_acceleration_weight = 1.,
|
|
imu_rotation_weight = 1.,
|
|
odometry_translation_weight = 1.,
|
|
odometry_rotation_weight = 1.,
|
|
solver_options = {
|
|
use_nonmonotonic_steps = false;
|
|
max_num_iterations = 10;
|
|
num_threads = 1;
|
|
},
|
|
},
|
|
},
|
|
|
|
submaps = {
|
|
high_resolution = 0.10,
|
|
high_resolution_max_range = 20.,
|
|
low_resolution = 0.45,
|
|
num_range_data = 160,
|
|
range_data_inserter = {
|
|
hit_probability = 0.55,
|
|
miss_probability = 0.49,
|
|
num_free_space_voxels = 2,
|
|
},
|
|
},
|
|
}
|