ndt-loam with kitti_2011_09_30_drive_0027_synced_full

Algorithm parameters

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
algorithm-parameters	imu_topic	/imu_raw
dataset-parameters	lidar_frequency	10

Computing resource usage

Max CPU (core)	Mean CPU (core)	Max Memory (MB)
4.270250929532892	3.3815844456347492	2200.625