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  1. -- Copyright 2016 The Cartographer Authors
  2. --
  3. -- Licensed under the Apache License, Version 2.0 (the "License");
  4. -- you may not use this file except in compliance with the License.
  5. -- You may obtain a copy of the License at
  6. --
  7. --      http://www.apache.org/licenses/LICENSE-2.0
  8. --
  9. -- Unless required by applicable law or agreed to in writing, software
  10. -- distributed under the License is distributed on an "AS IS" BASIS,
  11. -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  12. -- See the License for the specific language governing permissions and
  13. -- limitations under the License.
  14.  
  15. include "map_builder.lua"
  16. include "trajectory_builder.lua"
  17.  
  18. NUM_SUBDIVISIONS = 50
  19. NUM_RANGE_DATA = 100
  20.  
  21. options = {
  22.   map_builder = MAP_BUILDER,
  23.   trajectory_builder = TRAJECTORY_BUILDER,
  24.   map_frame ="map",
  25.   tracking_frame = "imu_link",
  26.   published_frame = "odom",
  27.   odom_frame = "odom_gc",
  28.   provide_odom_frame = true,
  29.   publish_frame_projected_to_2d = true,
  30.   use_odometry = true,
  31.   use_nav_sat = false,
  32.   use_landmarks = false,
  33.   num_laser_scans = 1,
  34.   num_multi_echo_laser_scans = 0,
  35.   num_subdivisions_per_laser_scan = NUM_SUBDIVISIONS,
  36.   num_point_clouds = 0,
  37.   lookup_transform_timeout_sec = 0.2,
  38.   submap_publish_period_sec = 0.3,
  39.   pose_publish_period_sec = 5e-3,
  40.   trajectory_publish_period_sec = 30e-3,
  41.   rangefinder_sampling_ratio = 1.,
  42.   odometry_sampling_ratio = 1.,
  43.   fixed_frame_pose_sampling_ratio = 1.,
  44.   imu_sampling_ratio = 1.,
  45.   landmarks_sampling_ratio = 1.,
  46. }
  47.  
  48. MAP_BUILDER.use_trajectory_builder_2d = true
  49. MAP_BUILDER.num_background_threads = 2
  50.  
  51. TRAJECTORY_BUILDER_2D.num_accumulated_range_data = NUM_SUBDIVISIONS
  52. TRAJECTORY_BUILDER_2D.min_range = 0.12
  53. TRAJECTORY_BUILDER_2D.max_range = 16
  54. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 15
  55. TRAJECTORY_BUILDER_2D.use_imu_data = true
  56. TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
  57. TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
  58. TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 3.
  59. TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1e-2
  60. TRAJECTORY_BUILDER_2D.submaps.num_range_data = NUM_RANGE_DATA
  61.  
  62. POSE_GRAPH.constraint_builder.min_score = 0.8
  63. POSE_GRAPH.constraint_builder.global_localization_min_score = 0.8
  64. POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.linear_search_window = 3.
  65. POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.angular_search_window = math.rad(0.1)
  66. POSE_GRAPH.constraint_builder.max_constraint_distance = 1.
  67.  
  68. return options
  69.