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Follow googlecartographer/cartographer#682. (#598) 

[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
master
Wolfgang Hess 2017-11-16 12:36:23 +01:00 committed by Wally B. Feed
parent e6060567b0
commit d2bb8b3d01
6 changed files with 18 additions and 18 deletions
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2
cartographer_ros/configuration_files/backpack_2d_localization.lua
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@ -15,6 +15,6 @@
include "backpack_2d.lua" include "backpack_2d.lua"
TRAJECTORY_BUILDER.pure_localization = true TRAJECTORY_BUILDER.pure_localization = true
SPARSE_POSE_GRAPH.optimize_every_n_scans = 20 POSE_GRAPH.optimize_every_n_scans = 20
return options return options

12
cartographer_ros/configuration_files/backpack_3d.lua
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@ -41,11 +41,11 @@ 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
SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2 POSE_GRAPH.optimization_problem.huber_scale = 5e2
SPARSE_POSE_GRAPH.optimize_every_n_scans = 320 POSE_GRAPH.optimize_every_n_scans = 320
SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03 POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62 POSE_GRAPH.constraint_builder.min_score = 0.62
SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66 POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
return options return options

2
cartographer_ros/configuration_files/backpack_3d_localization.lua
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@ -15,6 +15,6 @@
include "backpack_3d.lua" include "backpack_3d.lua"
TRAJECTORY_BUILDER.pure_localization = true TRAJECTORY_BUILDER.pure_localization = true
SPARSE_POSE_GRAPH.optimize_every_n_scans = 100 POSE_GRAPH.optimize_every_n_scans = 100
return options return options

2
cartographer_ros/configuration_files/pr2.lua
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@ -44,6 +44,6 @@ TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.15 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.15
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(35.) TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(35.)
SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2 POSE_GRAPH.optimization_problem.huber_scale = 1e2
return options return options

6
cartographer_ros/configuration_files/revo_lds.lua
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@ -49,8 +49,8 @@ TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window =
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2 POSE_GRAPH.optimization_problem.huber_scale = 1e2
SPARSE_POSE_GRAPH.optimize_every_n_scans = 35 POSE_GRAPH.optimize_every_n_scans = 35
SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65 POSE_GRAPH.constraint_builder.min_score = 0.65
return options return options

12
cartographer_ros/configuration_files/taurob_tracker.lua
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@ -44,11 +44,11 @@ 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
SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2 POSE_GRAPH.optimization_problem.huber_scale = 5e2
SPARSE_POSE_GRAPH.optimize_every_n_scans = 40 POSE_GRAPH.optimize_every_n_scans = 40
SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03 POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10 POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62 POSE_GRAPH.constraint_builder.min_score = 0.62
SPARSE_POSE_GRAPH.constraint_builder.log_matches = true POSE_GRAPH.constraint_builder.log_matches = true
return options return options