From 7540dfa67491fba37ceb134c6363f2539c9645e2 Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Thu, 9 Nov 2017 12:28:33 +0100 Subject: [PATCH] Increase 3D global localization score threshold. (#587) With googlecartographer/cartographer#640 submitted, global localization in 3D seems to behave as expected, so there is no longer a need for a low minimum score. We increase the minimum score to be slightly above the minimum score used in the same trajectory. This is to reduce the amount of outliers which are worse in this case. This change also moves it into the backpack_3d.lua file since it should also apply to multi-trajectory SLAM. --- cartographer_ros/configuration_files/backpack_3d.lua | 1 + .../configuration_files/backpack_3d_localization.lua | 3 --- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua index 70b49c5..abd1e3c 100644 --- a/cartographer_ros/configuration_files/backpack_3d.lua +++ b/cartographer_ros/configuration_files/backpack_3d.lua @@ -46,5 +46,6 @@ SPARSE_POSE_GRAPH.optimize_every_n_scans = 320 SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03 SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62 +SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66 return options diff --git a/cartographer_ros/configuration_files/backpack_3d_localization.lua b/cartographer_ros/configuration_files/backpack_3d_localization.lua index bd4469d..0b20dbb 100644 --- a/cartographer_ros/configuration_files/backpack_3d_localization.lua +++ b/cartographer_ros/configuration_files/backpack_3d_localization.lua @@ -17,7 +17,4 @@ include "backpack_3d.lua" TRAJECTORY_BUILDER.pure_localization = true SPARSE_POSE_GRAPH.optimize_every_n_scans = 100 --- 3D localization is not working that well, so we choose a low min score. -SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.45 - return options