From 2128f32d870fe4dc52c9b1faba4c3a581d1d74a3 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Tue, 4 Oct 2016 16:01:46 +0200
Subject: [PATCH] Tunes the 3D backpack demo. (#79)

---
 .../configuration_files/backpack_2d.lua       |  2 +-
 .../configuration_files/backpack_3d.lua       |  8 +++---
 .../configuration_files/demo_3d.rviz          | 26 +++++++++----------
 .../configuration_files/revo_lds.lua          |  2 +-
 4 files changed, 20 insertions(+), 18 deletions(-)

diff --git a/cartographer_ros/configuration_files/backpack_2d.lua b/cartographer_ros/configuration_files/backpack_2d.lua
index 2ac2dc9..241e3d9 100644
--- a/cartographer_ros/configuration_files/backpack_2d.lua
+++ b/cartographer_ros/configuration_files/backpack_2d.lua
@@ -31,7 +31,7 @@ options = {
   horizontal_laser_max_range = 30.,
   horizontal_laser_missing_echo_ray_length = 5.,
   num_lasers_3d = 0,
-  lookup_transform_timeout_sec = 0.01,
+  lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,
 }
diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua
index 3f2a0e4..e25a0af 100644
--- a/cartographer_ros/configuration_files/backpack_3d.lua
+++ b/cartographer_ros/configuration_files/backpack_3d.lua
@@ -31,12 +31,16 @@ options = {
   horizontal_laser_max_range = 30.,
   horizontal_laser_missing_echo_ray_length = 5.,
   num_lasers_3d = 2,
-  lookup_transform_timeout_sec = 0.01,
+  lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,
 }
 
+TRAJECTORY_BUILDER_3D.scans_per_accumulation = 160
+
 MAP_BUILDER.use_trajectory_builder_3d = true
+MAP_BUILDER.num_background_threads = 7
+MAP_BUILDER.sparse_pose_graph.optimization_problem.huber_scale = 5e2
 MAP_BUILDER.sparse_pose_graph.optimize_every_n_scans = 320
 MAP_BUILDER.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03
 MAP_BUILDER.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10
@@ -46,6 +50,4 @@ MAP_BUILDER.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECT
 MAP_BUILDER.sparse_pose_graph.constraint_builder.min_score = 0.62
 MAP_BUILDER.sparse_pose_graph.constraint_builder.log_matches = true
 
-TRAJECTORY_BUILDER_3D.scans_per_accumulation = 20
-
 return options
diff --git a/cartographer_ros/configuration_files/demo_3d.rviz b/cartographer_ros/configuration_files/demo_3d.rviz
index 7cb183e..f7742b2 100644
--- a/cartographer_ros/configuration_files/demo_3d.rviz
+++ b/cartographer_ros/configuration_files/demo_3d.rviz
@@ -19,9 +19,9 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /PointCloud21
-        - /PointCloud22
         - /Submaps1
+        - /PointCloud23
+        - /PointCloud23/Autocompute Value Bounds1
       Splitter Ratio: 0.600671
     Tree Height: 817
   - Class: rviz/Selection
@@ -145,7 +145,7 @@ Visualization Manager:
       Color: 20; 220; 20
       Color Transformer: FlatColor
       Decay Time: 0.1
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 4096
@@ -153,7 +153,7 @@ Visualization Manager:
       Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
-      Queue Size: 20
+      Queue Size: 200
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.03
@@ -162,7 +162,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: true
+      Value: false
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -175,7 +175,7 @@ Visualization Manager:
       Color: 240; 220; 20
       Color Transformer: FlatColor
       Decay Time: 0.1
-      Enabled: true
+      Enabled: false
       Invert Rainbow: true
       Max Color: 255; 255; 255
       Max Intensity: 4096
@@ -183,7 +183,7 @@ Visualization Manager:
       Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
-      Queue Size: 20
+      Queue Size: 200
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.03
@@ -192,7 +192,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: true
+      Value: false
     - Class: Submaps
       Enabled: true
       Map frame: map
@@ -205,16 +205,16 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 8.77916
-        Min Value: 4.51287
-        Value: true
+        Max Value: 10
+        Min Value: -10
+        Value: false
       Axis: Z
       Channel Name: intensity
       Class: rviz/PointCloud2
       Color: 0; 255; 0
       Color Transformer: AxisColor
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 4096
@@ -231,7 +231,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 100; 100; 100
diff --git a/cartographer_ros/configuration_files/revo_lds.lua b/cartographer_ros/configuration_files/revo_lds.lua
index b2488eb..0eeb65b 100644
--- a/cartographer_ros/configuration_files/revo_lds.lua
+++ b/cartographer_ros/configuration_files/revo_lds.lua
@@ -31,7 +31,7 @@ options = {
   horizontal_laser_max_range = 8.,
   horizontal_laser_missing_echo_ray_length = 1.,
   num_lasers_3d = 0,
-  lookup_transform_timeout_sec = 0.01,
+  lookup_transform_timeout_sec = 0.2,
   submap_publish_period_sec = 0.3,
   pose_publish_period_sec = 5e-3,
 }