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Simplify the 3D configuration file. (#67)

master
Wolfgang Hess 2016-09-22 15:41:00 +02:00 committed by GitHub
parent 1525dbdbc7
commit 87a2437d04
1 changed files with 8 additions and 8 deletions
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16
cartographer_ros/configuration_files/backpack_3d.lua
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@ -37,16 +37,16 @@ options = {
pose_publish_period_sec = 5e-3, pose_publish_period_sec = 5e-3,
} }
options.map_builder.use_trajectory_builder_3d = true MAP_BUILDER.use_trajectory_builder_3d = true
options.map_builder.sparse_pose_graph.optimize_every_n_scans = 320 MAP_BUILDER.sparse_pose_graph.optimize_every_n_scans = 320
options.map_builder.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03 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.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 -- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
-- constraints. -- constraints.
options.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.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
options.map_builder.sparse_pose_graph.constraint_builder.min_score = 0.62 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.log_matches = true
options.map_builder.trajectory_builder_3d.scans_per_accumulation = 20 TRAJECTORY_BUILDER_3D.scans_per_accumulation = 20
return options return options