cartographer pose

-- 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. 注意：这里的POSE_GRAPH指的就是位姿图，这里的参数全部与全局优化有关，不要被一些local的参数迷惑。这里的local指的是给予初始值的匹配，而全局匹配不给予初始值，就这区别。 POSE_GRAPH = { optimize_every_n_nodes = 90, --间隔多少nodes进行一次整体优化工作 constraint_builder = { sampling_ratio = 0.3, --全局约束nodes采样比率，间隔1/0.3个node进行一次全局约束检测 max_constraint_distance = 15., --当前node与当前submap之间的距离小于15才建立全局约束 min_score = 0.55,--使用fast_CSM检测当前node与当前submap的匹配程度，当匹配得分超过0.55，才建立全局约束 global_localization_min_score = 0.6,--使用fast_CSM检测当前node与全局submap的匹配程度，当匹配得分超过0.6，才建立全局约束 loop_closure_translation_weight = 1.1e4,--闭环检测平移权重 loop_closure_rotation_weight = 1e5,--闭环检测旋转权重 log_matches = true,--是否打印匹配结果 fast_correlative_scan_matcher = { linear_search_window = 7., --匹配滑动搜素窗口 angular_search_window = math.rad(30.),--匹配搜索角度 branch_and_bound_depth = 7,--金字塔层数 }, ceres_scan_matcher = { occupied_space_weight = 20., --匹配的占据空间权重 translation_weight = 10., --匹配平移权重 rotation_weight = 1., --匹配旋转权重 ceres_solver_options = { use_nonmonotonic_steps = true,--梯度下降策略，防止陷入局部最小值 max_num_iterations = 10, --最大贴袋次数 num_threads = 1,--使用几个线程 }, }, fast_correlative_scan_matcher_3d = { branch_and_bound_depth = 8, full_resolution_depth = 3, min_rotational_score = 0.77, min_low_resolution_score = 0.55, linear_xy_search_window = 5., linear_z_search_window = 1., angular_search_window = math.rad(15.), }, ceres_scan_matcher_3d = { occupied_space_weight_0 = 5., occupied_space_weight_1 = 30., translation_weight = 10., rotation_weight = 1., only_optimize_yaw = false, ceres_solver_options = { use_nonmonotonic_steps = false, max_num_iterations = 10, num_threads = 1, }, }, }, matcher_translation_weight = 5e2, --当前submap与在当前submap内的某个node的之间的平移约束 matcher_rotation_weight = 1.6e3,--当前submap与在当前submap内的某个node的之间的旋转约束 optimization_problem = { huber_scale = 1e1, --Huber因子越大，离群值（错误的数据）对整体的影响越大。 acceleration_weight = 1e3, --work for 3d rotation_weight = 3e5, --work for 3d local_slam_pose_translation_weight = 1e5, --前后2个node之间局部观测与全局优化之间的平移约束权重 local_slam_pose_rotation_weight = 1e5,--前后两个node之间的局部观测与全局优化之间旋转约束权重 odometry_translation_weight = 1e5,--前后两个node之阿的局部观测与里程计观测之间的平移约束权重 odometry_rotation_weight = 1e5,--前后两个node之阿的局部观测与里程计观测之间的旋转约束权重 fixed_frame_pose_translation_weight = 1e1, --gps相关 fixed_frame_pose_rotation_weight = 1e2, --gps相关 fixed_frame_pose_use_tolerant_loss = false, --gps相关 fixed_frame_pose_tolerant_loss_param_a = 1, --gps相关 fixed_frame_pose_tolerant_loss_param_b = 1, --gps相关 log_solver_summary = false, use_online_imu_extrinsics_in_3d = true,--是否在线标定imu的外参 fix_z_in_3d = false, --work for 3d ceres_solver_options = { use_nonmonotonic_steps = false, max_num_iterations = 50, num_threads = 7, }, }, max_num_final_iterations = 200, --最终优化次数 global_sampling_ratio = 0.003, --全局地图匹配约束nodes采样比率，间隔1/0.003个node进行一次全局约束检测 log_residual_histograms = true, --是否输出残差直方图 global_constraint_search_after_n_seconds = 10., --间隔多久全局匹配一次，这个要和global_sampling_ratio同时满足要求，才进行全局地图匹配寻找回环，这个参数在多机器人同时建图中使用。 -- overlapping_submaps_trimmer_2d = { -- fresh_submaps_count = 1, -- min_covered_area = 2, -- min_added_submaps_count = 5, -- }, }