一个非常棒的配置文件

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已于 2023-02-11 21:56:58 修改

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文章标签：计算机视觉

于 2023-02-09 15:24:02 首次发布

本文链接：https://blog.csdn.net/weixin_43869428/article/details/128953824

版权

-- 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.
include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "laser",
  published_frame = "laser",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = true,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 25
TRAJECTORY_BUILDER_2D.min_z = -3
TRAJECTORY_BUILDER_2D.max_z = 3
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 25.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(1.)



TRAJECTORY_BUILDER_2D.submaps.num_range_data = 70
POSE_GRAPH.optimize_every_n_nodes = 30	--houjia  35

POSE_GRAPH.optimization_problem.odometry_translation_weight = 1
POSE_GRAPH.optimization_problem.odometry_rotation_weight = 1

POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 16
POSE_GRAPH.constraint_builder.min_score = 0.58
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.8
POSE_GRAPH.max_num_final_iterations = 100

TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 1e3
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1
--POSE_GRAPH.optimization_problem.huber_scale = 1e2		
--POSE_GRAPH.constraint_builder.min_score = 0.65		
return options