61 lines
2.0 KiB
Lua
Executable File
61 lines
2.0 KiB
Lua
Executable File
-- Copyright 2016 The Cartographer Authors
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--
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-- Licensed under the Apache License, Version 2.0 (the "License");
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-- you may not use this file except in compliance with the License.
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-- You may obtain a copy of the License at
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--
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-- http://www.apache.org/licenses/LICENSE-2.0
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--
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-- Unless required by applicable law or agreed to in writing, software
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-- distributed under the License is distributed on an "AS IS" BASIS,
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-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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-- See the License for the specific language governing permissions and
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-- limitations under the License.
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include "map_builder.lua"
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include "trajectory_builder.lua"
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options = {
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map_builder = MAP_BUILDER,
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trajectory_builder = TRAJECTORY_BUILDER,
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map_frame = "map",
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tracking_frame = "base_link",
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published_frame = "odom",
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odom_frame = "odom",
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provide_odom_frame = false,
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publish_frame_projected_to_2d = false,
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use_pose_extrapolator = true,
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use_odometry = true,
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use_nav_sat = false,
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use_landmarks = false,
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num_laser_scans = 1,
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num_multi_echo_laser_scans = 0,
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num_subdivisions_per_laser_scan = 1,
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num_point_clouds = 0,
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lookup_transform_timeout_sec = 0.2,
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submap_publish_period_sec = 0.3,
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pose_publish_period_sec = 5e-3,
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trajectory_publish_period_sec = 30e-3,
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rangefinder_sampling_ratio = 1.,
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odometry_sampling_ratio = 1.,
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fixed_frame_pose_sampling_ratio = 1.,
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imu_sampling_ratio = 1.,
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landmarks_sampling_ratio = 1.,
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}
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TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 180
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TRAJECTORY_BUILDER_3D.min_range = 0.5
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TRAJECTORY_BUILDER_3D.max_range = 20.
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TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
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MAP_BUILDER.use_trajectory_builder_3d = true
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MAP_BUILDER.num_background_threads = 7
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POSE_GRAPH.optimization_problem.huber_scale = 5e2
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POSE_GRAPH.optimize_every_n_nodes = 40
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POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
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POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
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POSE_GRAPH.constraint_builder.min_score = 0.62
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POSE_GRAPH.constraint_builder.log_matches = true
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return options
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