116 lines
3.2 KiB
Lua
116 lines
3.2 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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TRAJECTORY_BUILDER_2D = {
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use_imu_data = true,
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min_range = 0.,
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max_range = 30.,
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min_z = -0.8,
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max_z = 2.,
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missing_data_ray_length = 5.,
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num_accumulated_range_data = 1,
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voxel_filter_size = 0.025,
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adaptive_voxel_filter = {
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max_length = 0.5,
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min_num_points = 200,
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max_range = 50.,
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},
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loop_closure_adaptive_voxel_filter = {
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max_length = 0.9,
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min_num_points = 100,
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max_range = 50.,
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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 = 0.1,
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angular_search_window = math.rad(20.),
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translation_delta_cost_weight = 1e-1,
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rotation_delta_cost_weight = 1e-1,
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},
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ceres_scan_matcher = {
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occupied_space_weight = 1.,
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translation_weight = 10.,
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rotation_weight = 40.,
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ceres_solver_options = {
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use_nonmonotonic_steps = false,
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max_num_iterations = 20,
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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 = 5.,
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max_distance_meters = 0.2,
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max_angle_radians = math.rad(1.),
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},
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-- TODO(schwoere,wohe): Remove this constant. This is only kept for ROS.
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imu_gravity_time_constant = 10.,
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pose_extrapolator = {
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use_imu_based = false,
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constant_velocity = {
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imu_gravity_time_constant = 10.,
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pose_queue_duration = 0.001,
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},
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imu_based = {
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pose_queue_duration = 5.,
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gravity_constant = 9.806,
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pose_translation_weight = 1.,
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pose_rotation_weight = 1.,
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imu_acceleration_weight = 1.,
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imu_rotation_weight = 1.,
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odometry_translation_weight = 1.,
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odometry_rotation_weight = 1.,
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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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submaps = {
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num_range_data = 90,
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grid_options_2d = {
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grid_type = "PROBABILITY_GRID",
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resolution = 0.05,
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},
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range_data_inserter = {
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range_data_inserter_type = "PROBABILITY_GRID_INSERTER_2D",
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probability_grid_range_data_inserter = {
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insert_free_space = true,
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hit_probability = 0.55,
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miss_probability = 0.49,
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},
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tsdf_range_data_inserter = {
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truncation_distance = 0.3,
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maximum_weight = 10.,
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update_free_space = false,
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normal_estimation_options = {
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num_normal_samples = 4,
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sample_radius = 0.5,
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},
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project_sdf_distance_to_scan_normal = true,
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update_weight_range_exponent = 0,
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update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.5,
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update_weight_distance_cell_to_hit_kernel_bandwidth = 0.5,
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},
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},
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},
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}
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