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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.
master
Wolfgang Hess 2017-11-09 12:28:33 +01:00 committed by GitHub
parent 67030b1ad3
commit 7540dfa674
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2 changed files with 1 additions and 3 deletions
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1
cartographer_ros/configuration_files/backpack_3d.lua
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@ -46,5 +46,6 @@ SPARSE_POSE_GRAPH.optimize_every_n_scans = 320
SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03 SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 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.min_score = 0.62
SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
return options return options

3
cartographer_ros/configuration_files/backpack_3d_localization.lua
View File

@ -17,7 +17,4 @@ include "backpack_3d.lua"
TRAJECTORY_BUILDER.pure_localization = true TRAJECTORY_BUILDER.pure_localization = true
SPARSE_POSE_GRAPH.optimize_every_n_scans = 100 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 return options