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ndt-loam with kitti_2011_09_30_drive_0027_synced_full
Current mappingtask id: 642
CPU Type: Intel(R) Core(TM) i7-7700 CPU @ 3.60GHz
CPU cores: 8
| Parameter type | Parameter name | Parameter value |
|---|---|---|
| algorithm-parameters | distance_near_thresh | 0.5 |
| algorithm-parameters | distance_far_thresh | 100.0 |
| algorithm-parameters | downsample_resolution | 0.1 |
| algorithm-parameters | statistical_mean_k | 30 |
| algorithm-parameters | statistical_stddev | 1.2 |
| algorithm-parameters | radius_radius | 0.5 |
| algorithm-parameters | radius_min_neighbors | 5 |
| algorithm-parameters | keyframe_delta_trans | 10.0 |
| algorithm-parameters | keyframe_delta_angle | 0.17 |
| algorithm-parameters | keyframe_delta_time | 1.0 |
| algorithm-parameters | scan_line | 64 |
| algorithm-parameters | mapping_skip_frame | 1 |
| algorithm-parameters | minimum_range | 5 |
| algorithm-parameters | mapping_line_resolution | 0.4 |
| algorithm-parameters | mapping_plane_resolution | 0.8 |
| algorithm-parameters | seq | 4 |
| algorithm-parameters | g2o_solver_num_iterations | 1024 |
| algorithm-parameters | distance_thresh | 20.0 |
| algorithm-parameters | accum_distance_thresh | 100.0 |
| algorithm-parameters | min_edge_interval | 50.0 |
| algorithm-parameters | fitness_score_thresh | 2.0 |
| algorithm-parameters | ndt_resolution | 1.0 |
| algorithm-parameters | ndt_num_threads | 8 |
| algorithm-parameters | gps_edge_robust_kernel_size | 1.0 |
| algorithm-parameters | gps_edge_stddev_xy | 20.0 |
| algorithm-parameters | gps_edge_stddev_z | 5.0 |
| algorithm-parameters | imu_orientation_edge_stddev | 1.0 |
| algorithm-parameters | imu_acceleration_edge_stddev | 1.0 |
| algorithm-parameters | floor_edge_stddev | 100.0 |
| algorithm-parameters | odometry_edge_robust_kernel_size | 1.0 |
| algorithm-parameters | loop_closure_edge_robust_kernel_size | 1.0 |
| algorithm-parameters | const_stddev_x | 0.5 |
| algorithm-parameters | const_stddev_q | 0.1 |
| algorithm-parameters | var_gain_a | 20.0 |
| algorithm-parameters | min_stddev_x | 0.1 |
| algorithm-parameters | max_stddev_x | 5.0 |
| algorithm-parameters | min_stddev_q | 0.05 |
| algorithm-parameters | max_stddev_q | 0.2 |
| algorithm-parameters | graph_update_interval | 10.0 |
| algorithm-parameters | max_keyframes_per_update | 20 |
| algorithm-parameters | map_cloud_update_interval | 10.0 |
| algorithm-parameters | map_cloud_resolution | 0.5 |
| algorithm-parameters | pointcloud_topic | /points_raw |
| algorithm-parameters | enable_floor_detection | False |
| algorithm-parameters | enable_gps | False |
| algorithm-parameters | enable_imu_acc | False |
| algorithm-parameters | enable_imu_ori | False |
| algorithm-parameters | base_link_frame | base_link |
| algorithm-parameters | use_distance_filter | True |
| algorithm-parameters | downsample_method | VOXELGRID |
| algorithm-parameters | outlier_removal_method | RADIUS |
| algorithm-parameters | use_angle_calibration | False |
| algorithm-parameters | odom_frame_id | odom |
| algorithm-parameters | calib_file | home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt |
| algorithm-parameters | lfa_output_path | /home/chenshoubin/slam_ws/src/lv_slam/data/kitti_lv_dlo_lfa_ggo |
| algorithm-parameters | g2o_solver_type | lm_var_cholmod |
| algorithm-parameters | registration_method | NDT_OMP |
| algorithm-parameters | ndt_nn_search_method | DIRECT7 |
| algorithm-parameters | gps_edge_robust_kernel | Huber |
| algorithm-parameters | imu_orientation_edge_robust_kernel | Huber |
| algorithm-parameters | imu_acceleration_edge_robust_kernel | Huber |
| algorithm-parameters | floor_edge_robust_kernel | Huber |
| algorithm-parameters | odometry_edge_robust_kernel | Huber |
| algorithm-parameters | loop_closure_edge_robust_kernel | Huber |
| algorithm-parameters | use_const_inf_matrix | True |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 4.656113958454669 | 3.7256608366390678 | 2289.3046875 |