69 lines
1.8 KiB
Lua
69 lines
1.8 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.
|
|
|
|
TRAJECTORY_BUILDER_2D = {
|
|
use_imu_data = true,
|
|
min_range = 0.,
|
|
max_range = 30.,
|
|
min_z = -0.8,
|
|
max_z = 2.,
|
|
missing_data_ray_length = 5.,
|
|
scans_per_accumulation = 1,
|
|
voxel_filter_size = 0.025,
|
|
|
|
adaptive_voxel_filter = {
|
|
max_length = 0.5,
|
|
min_num_points = 200,
|
|
max_range = 50.,
|
|
},
|
|
|
|
use_online_correlative_scan_matching = false,
|
|
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_weight = 1e1,
|
|
translation_weight = 1e1,
|
|
rotation_weight = 1e2,
|
|
ceres_solver_options = {
|
|
use_nonmonotonic_steps = false,
|
|
max_num_iterations = 20,
|
|
num_threads = 1,
|
|
},
|
|
},
|
|
|
|
motion_filter = {
|
|
max_time_seconds = 5.,
|
|
max_distance_meters = 0.2,
|
|
max_angle_radians = math.rad(1.),
|
|
},
|
|
|
|
imu_gravity_time_constant = 10.,
|
|
num_odometry_states = 1000,
|
|
|
|
submaps = {
|
|
resolution = 0.05,
|
|
num_range_data = 90,
|
|
range_data_inserter = {
|
|
insert_free_space = true,
|
|
hit_probability = 0.55,
|
|
miss_probability = 0.49,
|
|
},
|
|
},
|
|
}
|