96 lines
3.0 KiB
Lua
96 lines
3.0 KiB
Lua
-- 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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POSE_GRAPH = {
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optimize_every_n_nodes = 90,
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constraint_builder = {
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sampling_ratio = 0.3,
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max_constraint_distance = 15.,
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min_score = 0.55,
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global_localization_min_score = 0.6,
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loop_closure_translation_weight = 1.1e4,
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loop_closure_rotation_weight = 1e5,
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log_matches = true,
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fast_correlative_scan_matcher = {
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linear_search_window = 7.,
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angular_search_window = math.rad(30.),
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branch_and_bound_depth = 7,
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},
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ceres_scan_matcher = {
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occupied_space_weight = 20.,
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translation_weight = 10.,
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rotation_weight = 1.,
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ceres_solver_options = {
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use_nonmonotonic_steps = true,
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max_num_iterations = 10,
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num_threads = 1,
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},
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},
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fast_correlative_scan_matcher_3d = {
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branch_and_bound_depth = 8,
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full_resolution_depth = 3,
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min_rotational_score = 0.77,
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min_low_resolution_score = 0.55,
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linear_xy_search_window = 5.,
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linear_z_search_window = 1.,
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angular_search_window = math.rad(15.),
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},
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ceres_scan_matcher_3d = {
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occupied_space_weight_0 = 5.,
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occupied_space_weight_1 = 30.,
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translation_weight = 10.,
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rotation_weight = 1.,
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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 = 10,
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num_threads = 1,
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},
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},
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},
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matcher_translation_weight = 5e2,
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matcher_rotation_weight = 1.6e3,
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optimization_problem = {
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huber_scale = 1e1,
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acceleration_weight = 1.1e2,
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rotation_weight = 1.6e4,
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local_slam_pose_translation_weight = 1e5,
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local_slam_pose_rotation_weight = 1e5,
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odometry_translation_weight = 1e5,
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odometry_rotation_weight = 1e5,
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fixed_frame_pose_translation_weight = 1e1,
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fixed_frame_pose_rotation_weight = 1e2,
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fixed_frame_pose_use_tolerant_loss = false,
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fixed_frame_pose_tolerant_loss_param_a = 1,
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fixed_frame_pose_tolerant_loss_param_b = 1,
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log_solver_summary = false,
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use_online_imu_extrinsics_in_3d = true,
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fix_z_in_3d = false,
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ceres_solver_options = {
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use_nonmonotonic_steps = false,
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max_num_iterations = 50,
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num_threads = 7,
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},
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},
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max_num_final_iterations = 200,
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global_sampling_ratio = 0.003,
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log_residual_histograms = true,
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global_constraint_search_after_n_seconds = 10.,
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-- overlapping_submaps_trimmer_2d = {
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-- fresh_submaps_count = 1,
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-- min_covered_area = 2,
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-- min_added_submaps_count = 5,
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-- },
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}
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