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Simplify the configuration files. (#383)

master
Wolfgang Hess 2017-06-16 17:45:11 +02:00 committed by GitHub
parent e006554258
commit bf16ec6458
2 changed files with 13 additions and 13 deletions
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12
cartographer_ros/configuration_files/backpack_3d.lua
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@ -37,13 +37,13 @@ TRAJECTORY_BUILDER_3D.scans_per_accumulation = 160
MAP_BUILDER.use_trajectory_builder_3d = true MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7 MAP_BUILDER.num_background_threads = 7
MAP_BUILDER.sparse_pose_graph.optimization_problem.huber_scale = 5e2 SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2
MAP_BUILDER.sparse_pose_graph.optimize_every_n_scans = 320 SPARSE_POSE_GRAPH.optimize_every_n_scans = 320
MAP_BUILDER.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03 SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
MAP_BUILDER.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 -- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
-- constraints. -- constraints.
MAP_BUILDER.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter 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 SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62
return options return options

14
cartographer_ros/configuration_files/taurob_tracker.lua
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@ -40,14 +40,14 @@ TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
MAP_BUILDER.use_trajectory_builder_3d = true MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7 MAP_BUILDER.num_background_threads = 7
MAP_BUILDER.sparse_pose_graph.optimization_problem.huber_scale = 5e2 SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2
MAP_BUILDER.sparse_pose_graph.optimize_every_n_scans = 40 SPARSE_POSE_GRAPH.optimize_every_n_scans = 40
MAP_BUILDER.sparse_pose_graph.constraint_builder.sampling_ratio = 0.03 SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
MAP_BUILDER.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 -- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
-- constraints. -- constraints.
MAP_BUILDER.sparse_pose_graph.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter 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 SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62
MAP_BUILDER.sparse_pose_graph.constraint_builder.log_matches = true SPARSE_POSE_GRAPH.constraint_builder.log_matches = true
return options return options