Created
October 30, 2019 07:40
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wood_car_2d_localization.lua
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| include "wood_car.lua" | |
| TRAJECTORY_BUILDER.pure_localization_trimmer = { | |
| max_submaps_to_keep = 3, | |
| } | |
| POSE_GRAPH.optimize_every_n_nodes = 2 | |
| POSE_GRAPH.constraint_builder.sampling_ratio = 0.05 | |
| POSE_GRAPH.constraint_builder.min_score = 0.75 | |
| POSE_GRAPH.global_constraint_search_after_n_seconds = 20. | |
| POSE_GRAPH.constraint_builder.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 6 | |
| MAP_BUILDER.num_background_threads = 8 | |
| return options |
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