kaarta STENCIL 2, Руководство пользователя

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eigenvalueThreshold:
100 - Threshold for evaluating degeneracy - Can change based
on scenario, i.e. outdoor vs indoor scan.
•
maximumIterations:
10
–
Max number of iterations to use for matching scan frames.
Increase to 25 or 50 only for playback as it greatly increases processing load for real time
scanning.
•
matchingRotationThreshold:
0.05
–
Error maximum in meters for determining the
accuracy when matching scan frames. Lower to 0.1 only for playback as it greatly increases
processing load for live scanning.
•
matchingTranslationThreshold:
0.05 - Error maximum in meters for determining the
accuracy when matching scan frames. Lower to 0.1 only for playback as it greatly increases
processing load for live scanning.
•
matchingDurationThreshold:
0.35 – Maximum time in seconds to allow for
laserMatching to complete before timing out. Increase only for replaying data.
transformMaintainance
:
•
odomSmoothRate, imuSmoothRate, veloSmoothRate, poseSmoothRate:
Determines the amount of smoothing by a low pass filter for the final pose output. These
values are used when processing with the Feature Tracker. Setting the rates to 1 removes
the smoothing. Default values are 0.2, 0.05, 0.1, and 0.1 respectively.
•
useImuAcceleration:
true - Set to false if you want to use only the orientation from the
IMU but not acceleration. This is helpful when there is a lot of vehicle vibration.
•
usePlanarMotion:
false - Set to true if you want to limit the motion to x-y plane for
movement on flat surfaces. (Ignores roll, pitch, and height changes).
•
useLevelMotion:
false – Set to true if you want to ignore roll and pitch
ueye_cam_nodelet:
•
saturationTarget: 100
– Setting to control auto-exposure.
OdomFuserNodelet:
•
useLevelMotion:
false – Set to true if you want to ignore roll and pitch
•
usePlanarMotion:
false - Set to true if you want to limit the motion to x-y plane for
movement on flat surfaces. (Ignores roll, pitch, and height changes).
•
useImuAcceleration:
true. Set to false if you want to use only the orientation from the
IMU but not acceleration. This is helpful when there is a lot of vehicle vibration.
•
imuLatencyOffset:
0 – Configured at the factory. Not meant for user changes
•
resetShiftCount:
200 – Configured at the factory. Not meant for user changes
•
odomDelayBeforePub:
0.1 – Configured at the factory. Not meant for user changes
•
imuBufferSize:
200 – Configured at the factory. Not meant for user changes