From 7d609695cfecd8acc53223501f3512e8dfc9acd9 Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Fri, 25 Aug 2017 17:30:08 +0200 Subject: [PATCH] Remove unused options. (#491) The adaptive_voxel_filter option is no longer used in 3D. --- cartographer_ros/configuration_files/backpack_3d.lua | 3 --- cartographer_ros/configuration_files/taurob_tracker.lua | 3 --- 2 files changed, 6 deletions(-) diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua index 640f6ae..0f54498 100644 --- a/cartographer_ros/configuration_files/backpack_3d.lua +++ b/cartographer_ros/configuration_files/backpack_3d.lua @@ -42,9 +42,6 @@ SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2 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 --- Reuse the coarser 3D voxel filter to speed up the computation of loop closure --- constraints. -SPARSE_POSE_GRAPH.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62 return options diff --git a/cartographer_ros/configuration_files/taurob_tracker.lua b/cartographer_ros/configuration_files/taurob_tracker.lua index 51743f1..996fb15 100644 --- a/cartographer_ros/configuration_files/taurob_tracker.lua +++ b/cartographer_ros/configuration_files/taurob_tracker.lua @@ -45,9 +45,6 @@ SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2 SPARSE_POSE_GRAPH.optimize_every_n_scans = 40 SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03 SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 --- Reuse the coarser 3D voxel filter to speed up the computation of loop closure --- constraints. -SPARSE_POSE_GRAPH.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62 SPARSE_POSE_GRAPH.constraint_builder.log_matches = true