cartographer settings 180913

pose_graph_test_localization.lua

-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.

POSE_GRAPH = {
  optimize_every_n_nodes = 90,
  constraint_builder = {
    sampling_ratio = 0.3,
    max_constraint_distance = 1e3,  -- def: 15.
    min_score = 0.55,
    global_localization_min_score = 0.6,
    loop_closure_translation_weight = 1.1e4,   -- def: 1.1e4
    loop_closure_rotation_weight = 1e5,        -- def: 1e5
    log_matches = true,
    fast_correlative_scan_matcher = {
      linear_search_window = 7e1,    -- def: 7.
      angular_search_window = math.rad(90.),  -- def: math.rad(30.)
      branch_and_bound_depth = 7e1,   -- def: 7
    },
    ceres_scan_matcher = {
      occupied_space_weight = 20,   -- def: 20.
      translation_weight = 0,      -- def: 10.
      rotation_weight = 0,          -- def: 1.
      ceres_solver_options = {
        use_nonmonotonic_steps = true,  -- def: true
        max_num_iterations = 1,  -- def: 10
        num_threads = 1, -- def: 1
      },
    },
    fast_correlative_scan_matcher_3d = {
      branch_and_bound_depth = 8, -- def: 8
      full_resolution_depth = 30,  -- def: 3
      min_rotational_score = 0.80,   -- def: 0.77
      min_low_resolution_score = 0.35, -- def: 0.55
      linear_xy_search_window = 5,  -- def: 5.
      linear_z_search_window = 1,   -- def: 1.
      angular_search_window = math.rad(30.), -- def: math.rad(15.)
    },
    ceres_scan_matcher_3d = {
      occupied_space_weight_0 = 5.,   -- def: 5.
      occupied_space_weight_1 = 30.,  -- def: 30.
      translation_weight = 1e2,    -- def: 10.
      rotation_weight = 1e2,        -- def: 1.
      only_optimize_yaw = true,   -- def: false
      ceres_solver_options = {
        use_nonmonotonic_steps = false,
        max_num_iterations = 10,  -- def: 10
        num_threads = 1, -- def: 1
      },
    },
  },
  matcher_translation_weight = 5e1,   -- def: 5e2
  matcher_rotation_weight = 1.6e1,    -- def: 1.6e3

  optimization_problem = {
    huber_scale = 1e1,   -- def: 1e1
    acceleration_weight = 1e1, -- def: 1e3
    rotation_weight = 1e1,     -- def: 3e5
    local_slam_pose_translation_weight = 1e1,   -- def: 1e5
    local_slam_pose_rotation_weight = 1e1,      -- def: 1e5
    odometry_translation_weight = 0,      -- def: 1e5
    odometry_rotation_weight = 0,         -- def: 1e5
    fixed_frame_pose_translation_weight = 0,  -- def: 1e1
    fixed_frame_pose_rotation_weight = 0,    -- def:1e2
    log_solver_summary = false,
    ceres_solver_options = {
      use_nonmonotonic_steps = false,  -- def: false
      max_num_iterations = 50,  -- def: 50
      num_threads = 7,
    },
  },
  max_num_final_iterations = 200,  -- def: 200
  global_sampling_ratio = 3e-7,  -- def: 0.003
  log_residual_histograms = true,
  global_constraint_search_after_n_seconds = 1e-3, -- def: 10.
}