From 87a2437d04c324f2dc5f8c360c8d8d2f77692936 Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Thu, 22 Sep 2016 15:41:00 +0200 Subject: [PATCH] Simplify the 3D configuration file. (#67) --- .../configuration_files/backpack_3d.lua | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua index 586f152..a3e9acb 100644 --- a/cartographer_ros/configuration_files/backpack_3d.lua +++ b/cartographer_ros/configuration_files/backpack_3d.lua @@ -37,16 +37,16 @@ options = { pose_publish_period_sec = 5e-3, } -options.map_builder.use_trajectory_builder_3d = true -options.map_builder.sparse_pose_graph.optimize_every_n_scans = 320 -options.map_builder.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03 -options.map_builder.sparse_pose_graph.optimization_problem.ceres_solver_options.max_num_iterations = 10 +MAP_BUILDER.use_trajectory_builder_3d = true +MAP_BUILDER.sparse_pose_graph.optimize_every_n_scans = 320 +MAP_BUILDER.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03 +MAP_BUILDER.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. -options.map_builder.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter -options.map_builder.sparse_pose_graph.constraint_builder.min_score = 0.62 -options.map_builder.sparse_pose_graph.constraint_builder.log_matches = true +MAP_BUILDER.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter +MAP_BUILDER.sparse_pose_graph.constraint_builder.min_score = 0.62 +MAP_BUILDER.sparse_pose_graph.constraint_builder.log_matches = true -options.map_builder.trajectory_builder_3d.scans_per_accumulation = 20 +TRAJECTORY_BUILDER_3D.scans_per_accumulation = 20 return options