From 4f6f0dc684a985cc6a4f88cc71c837eda57974fc Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Wed, 23 Nov 2016 12:38:03 +0100 Subject: [PATCH] Simplify configuration. (#183) Logging loop closure matches is now the default. --- cartographer_ros/configuration_files/backpack_3d.lua | 1 - 1 file changed, 1 deletion(-) diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua index c85c712..8a2a4bc 100644 --- a/cartographer_ros/configuration_files/backpack_3d.lua +++ b/cartographer_ros/configuration_files/backpack_3d.lua @@ -42,6 +42,5 @@ MAP_BUILDER.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_ -- constraints. MAP_BUILDER.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter MAP_BUILDER.sparse_pose_graph.constraint_builder.min_score = 0.62 -MAP_BUILDER.sparse_pose_graph.constraint_builder.log_matches = true return options