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Remove unused options. (#491) 

The adaptive_voxel_filter option is no longer used in 3D.
master
Wolfgang Hess 2017-08-25 17:30:08 +02:00 committed by GitHub
parent af28b769b4
commit 7d609695cf
2 changed files with 0 additions and 6 deletions
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3
cartographer_ros/configuration_files/backpack_3d.lua
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@ -42,9 +42,6 @@ SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2
SPARSE_POSE_GRAPH.optimize_every_n_scans = 320 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
-- 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.min_score = 0.62
return options return options

3
cartographer_ros/configuration_files/taurob_tracker.lua
View File

@ -45,9 +45,6 @@ SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2
SPARSE_POSE_GRAPH.optimize_every_n_scans = 40 SPARSE_POSE_GRAPH.optimize_every_n_scans = 40
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
-- 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.min_score = 0.62
SPARSE_POSE_GRAPH.constraint_builder.log_matches = true SPARSE_POSE_GRAPH.constraint_builder.log_matches = true