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Better tuning for Revo LDS demo. (#362)

master
Holger Rapp 2017-06-06 14:08:45 +02:00 committed by GitHub
parent 2441fb5854
commit 73da0aa124
1 changed files with 6 additions and 0 deletions
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6
cartographer_ros/configuration_files/revo_lds.lua
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@ -34,12 +34,18 @@ options = {
MAP_BUILDER.use_trajectory_builder_2d = true 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.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8. TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true 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.optimization_problem.huber_scale = 1e2
SPARSE_POSE_GRAPH.optimize_every_n_scans = 35
SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65
return options return options