From 73da0aa12428d6712c1e7afb2cf94b919e66ea15 Mon Sep 17 00:00:00 2001 From: Holger Rapp Date: Tue, 6 Jun 2017 14:08:45 +0200 Subject: [PATCH] Better tuning for Revo LDS demo. (#362) --- cartographer_ros/configuration_files/revo_lds.lua | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/cartographer_ros/configuration_files/revo_lds.lua b/cartographer_ros/configuration_files/revo_lds.lua index 77250d7..7896208 100644 --- a/cartographer_ros/configuration_files/revo_lds.lua +++ b/cartographer_ros/configuration_files/revo_lds.lua @@ -34,12 +34,18 @@ options = { MAP_BUILDER.use_trajectory_builder_2d = true +TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35 TRAJECTORY_BUILDER_2D.min_range = 0.3 TRAJECTORY_BUILDER_2D.max_range = 8. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1. TRAJECTORY_BUILDER_2D.use_imu_data = false TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2 +SPARSE_POSE_GRAPH.optimize_every_n_scans = 35 +SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65 return options