最近同学都在卷论文,刷力扣,自己的导师比较松也没有一个很好的学习氛围,为了敦促自己决定开始做一些以前不会做的事,养成一些新的习惯。计划在这学期完成cartographer的学习,并在CSDN做一些记录,虽是他山之石,但也是迈出的第一步,共勉。
提示:以下是本篇文章正文内容,下面案例可供参考
说明:分析所用的一些launch和lua文件是跟着学习的讲师所配置的,由官方下载的雷达2d.lua文件基础上配置成的,配合相应的雷达包可以直接运行,具有实际应用的参考价值。运行部分会另开一篇文章进行介绍,此篇主要是参数介绍。rviz中建图过程如下所示:
最终结果如下图所示:
如文件名所示,该配置文件进行的是rs16多线激光雷达录制的室外bag使用时的参数配置,建立的地图为2d形式。重要的参数提出来重写,原来所在的位置:如TRAJECTORY_BUILDER_2D.submaps.num_range_data = 80,即在trajectory_builder_2d.lua的submaps函数中找num_range_data,相应的注释也在子lua文件中
-- 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" --包含的cartographer里的lua文件
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER, -- map_builder.lua的配置信息
trajectory_builder = TRAJECTORY_BUILDER, -- trajectory_builder.lua的配置信息
map_frame = "map", -- 地图坐标系的名字
tracking_frame = "imu_link", -- 将所有传感器数据转换到这个坐标系下,如果有imu的,就写imu的link,如果没有,就写base_link或者footprint,
--因为cartographer会将所有传感器进行坐标变换到tracking_fram坐标系下,每个传感器的频率不一样,imu频率远高于雷达的频率,这样做可以减少计算量
published_frame = "footprint", -- tf: map -> footprint 自己bag的tf最上面的坐标系的名字
odom_frame = "odom", -- 里程计的坐标系名字
provide_odom_frame = false, -- 是否提供odom的tf, 如果为true,则tf树为map->odom->footprint
-- 如果为false tf树为map->footprint
publish_frame_projected_to_2d = false, -- 是否将坐标系投影到平面上,没啥用
--use_pose_extrapolator = false, -- 发布tf时是使用pose_extrapolator的位姿还是前端计算出来的位姿,前端计算的位姿更准
use_odometry = false, -- 是否使用里程计,如果使用要求一定要有odom的tf *
use_nav_sat = false, -- 是否使用gps *topic形式订阅,不可订阅多个里程计/gps/landmark,要注意做重映射
use_landmarks = false, -- 是否使用landmark *
num_laser_scans = 0, -- 是否使用单线激光数据,可订阅多个
num_multi_echo_laser_scans = 0, -- 是否使用multi_echo_laser_scans数据
num_subdivisions_per_laser_scan = 1, -- 1帧数据被分成几次处理,一般为1
num_point_clouds = 1, -- 是否使用点云数据
lookup_transform_timeout_sec = 0.2, -- 查找tf时的超时时间
submap_publish_period_sec = 0.3, -- 发布数据的时间间隔
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1., -- 传感器数据的采样频率
odometry_sampling_ratio = 1., --设成0.1即来10帧用1帧
fixed_frame_pose_sampling_ratio = 1., --某个传感器不准,可以降低其使用频率
imu_sampling_ratio = 1., --如若不准,一般直接弃用即可
landmarks_sampling_ratio = 1.,
}
MAP_BUILDER.use_trajectory_builder_2d = true --之前进行include已经包含在该文件中了,这里进行重写,列出的都为比较重要的参数
--在这里进行重写就会覆盖子文件中的参数
TRAJECTORY_BUILDER_2D.use_imu_data = true
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 100.
TRAJECTORY_BUILDER_2D.min_z = 0.2
--TRAJECTORY_BUILDER_2D.max_z = 1.4
--TRAJECTORY_BUILDER_2D.voxel_filter_size = 0.02
--TRAJECTORY_BUILDER_2D.adaptive_voxel_filter.max_length = 0.5
--TRAJECTORY_BUILDER_2D.adaptive_voxel_filter.min_num_points = 200.
--TRAJECTORY_BUILDER_2D.adaptive_voxel_filter.max_range = 50.
--TRAJECTORY_BUILDER_2D.loop_closure_adaptive_voxel_filter.max_length = 0.9
--TRAJECTORY_BUILDER_2D.loop_closure_adaptive_voxel_filter.min_num_points = 100
--TRAJECTORY_BUILDER_2D.loop_closure_adaptive_voxel_filter.max_range = 50.
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = false
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 1.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 1.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1.
--TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 12
--TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.1
--TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = 0.004
--TRAJECTORY_BUILDER_2D.imu_gravity_time_constant = 1.
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 80.
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.1
POSE_GRAPH.optimize_every_n_nodes = 160.
POSE_GRAPH.constraint_builder.sampling_ratio = 0.3
POSE_GRAPH.constraint_builder.max_constraint_distance = 15.
POSE_GRAPH.constraint_builder.min_score = 0.48
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.60
return options
rs16_2d_outdoor.lua中包含的子lua文件
include "trajectory_builder_2d.lua"
include "trajectory_builder_3d.lua"
TRAJECTORY_BUILDER = {
trajectory_builder_2d = TRAJECTORY_BUILDER_2D,
trajectory_builder_3d = TRAJECTORY_BUILDER_3D,
-- pure_localization_trimmer = {
-- max_submaps_to_keep = 3,
-- },
collate_fixed_frame = true, -- 是否将数据放入阻塞队列中
collate_landmarks = false, -- 是否将数据放入阻塞队列中
trajectory_builder.lua中包含的子lua文件,如更改是否使用imu数据也需要在此处进行修改
TRAJECTORY_BUILDER_2D = {
use_imu_data = true, -- 是否使用imu数据
min_range = 0., -- 雷达数据的最远最近滤波, 保存中间值
max_range = 30.,
min_z = -0.8, -- 雷达数据的最高与最低的过滤, 保存中间值
max_z = 2.,
missing_data_ray_length = 5., -- 超过最大距离范围的数据点(NaN点)或反射较弱的点,即表明周围较空,用这个距离代替
num_accumulated_range_data = 1, -- 几帧有效的点云数据进行一次扫描匹配
voxel_filter_size = 0.025, -- 体素滤波的立方体的边长
-- 使用固定的voxel滤波之后, 再使用自适应体素滤波器
-- 体素滤波器 用于生成稀疏点云 以进行 扫描匹配
adaptive_voxel_filter = {
max_length = 0.5, -- 尝试确定最佳的立方体边长, 边长最大为0.5
min_num_points = 200, -- 如果存在 较多点 并且大于'min_num_points', 则减小体素长度以尝试获得该最小点数
max_range = 50., -- 距远离原点超过max_range 的点被移除
},
-- 闭环检测的自适应体素滤波器, 用于生成稀疏点云 以进行 闭环检测
loop_closure_adaptive_voxel_filter = {
max_length = 0.9,
min_num_points = 100,
max_range = 50.,
},
-- 是否使用 real_time_correlative_scan_matcher 为ceres提供先验信息
-- 计算复杂度高 , 但是很鲁棒 , 在odom或者imu不准时依然能达到很好的效果
--如只使用单线激光雷达,频率又很低,建图效果不好总是叠图,可以打开,在扫描匹配前就提供先验信息
use_online_correlative_scan_matching = false,
real_time_correlative_scan_matcher = {
linear_search_window = 0.1, -- 线性搜索窗口的大小
angular_search_window = math.rad(20.), -- 角度搜索窗口的大小
translation_delta_cost_weight = 1e-1, -- 用于计算各部分score的权重
rotation_delta_cost_weight = 1e-1,
},
-- ceres匹配的一些配置参数,优化残差相关
ceres_scan_matcher = {
occupied_space_weight = 1.,
translation_weight = 10.,
rotation_weight = 40.,
ceres_solver_options = {
use_nonmonotonic_steps = false,
max_num_iterations = 20,
num_threads = 1,
},
},
-- 为了防止子图里插入太多数据, 在插入子图之前之前对数据进行过滤
motion_filter = {
max_time_seconds = 5.,
max_distance_meters = 0.2,
max_angle_radians = math.rad(1.),
},
-- TODO(schwoere,wohe): Remove this constant. This is only kept for ROS.
imu_gravity_time_constant = 10.,
-- 位姿预测器
pose_extrapolator = {
use_imu_based = false,
constant_velocity = {
imu_gravity_time_constant = 10.,
pose_queue_duration = 0.001,
},
imu_based = {
pose_queue_duration = 5.,
gravity_constant = 9.806,
pose_translation_weight = 1.,
pose_rotation_weight = 1.,
imu_acceleration_weight = 1.,
imu_rotation_weight = 1.,
odometry_translation_weight = 1.,
odometry_rotation_weight = 1.,
solver_options = {
use_nonmonotonic_steps = false;
max_num_iterations = 10;
num_threads = 1;
},
},
},
-- 子图相关的一些配置
submaps = {
num_range_data = 90, -- 一个子图里插入雷达数据的个数的一半
grid_options_2d = {
grid_type = "PROBABILITY_GRID", -- 地图的种类, 还可以是tsdf格式
resolution = 0.05, --地图的分辨率,重要
},
range_data_inserter = {
range_data_inserter_type = "PROBABILITY_GRID_INSERTER_2D",
-- 概率占用栅格地图的一些配置
probability_grid_range_data_inserter = {
insert_free_space = true,
hit_probability = 0.55,
miss_probability = 0.49,
},
-- tsdf地图的一些配置
tsdf_range_data_inserter = {
truncation_distance = 0.3,
maximum_weight = 10.,
update_free_space = false,
normal_estimation_options = {
num_normal_samples = 4,
sample_radius = 0.5,
},
project_sdf_distance_to_scan_normal = true,
update_weight_range_exponent = 0,
update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.5,
update_weight_distance_cell_to_hit_kernel_bandwidth = 0.5,
},
},
},
}
trajectory_builder.lua中包含的子lua文件,以上都是前端一些扫描匹配的参数
MAX_3D_RANGE = 60.
INTENSITY_THRESHOLD = 40
TRAJECTORY_BUILDER_3D = {
min_range = 1.,
max_range = MAX_3D_RANGE,
num_accumulated_range_data = 1,
voxel_filter_size = 0.15,
-- 在3d slam 时会有2个自适应体素滤波, 一个生成高分辨率点云, 一个生成低分辨率点云
high_resolution_adaptive_voxel_filter = {
max_length = 2.,
min_num_points = 150,
max_range = 15.,
},
low_resolution_adaptive_voxel_filter = {
max_length = 4.,
min_num_points = 200,
max_range = MAX_3D_RANGE,
},
use_online_correlative_scan_matching = false,
real_time_correlative_scan_matcher = {
linear_search_window = 0.15,
angular_search_window = math.rad(1.),
translation_delta_cost_weight = 1e-1,
rotation_delta_cost_weight = 1e-1,
},
ceres_scan_matcher = {
-- 在3D中,occupied_space_weight_0和occupied_space_weight_1参数分别与高分辨率和低分辨率滤波点云相关
occupied_space_weight_0 = 1.,
occupied_space_weight_1 = 6.,
intensity_cost_function_options_0 = {
weight = 0.5,
huber_scale = 0.3,
intensity_threshold = INTENSITY_THRESHOLD,
},
translation_weight = 5.,
rotation_weight = 4e2,
only_optimize_yaw = false,
ceres_solver_options = {
use_nonmonotonic_steps = false,
max_num_iterations = 12,
num_threads = 1,
},
},
motion_filter = {
max_time_seconds = 0.5,
max_distance_meters = 0.1,
max_angle_radians = 0.004,
},
rotational_histogram_size = 120,
-- TODO(schwoere,wohe): Remove this constant. This is only kept for ROS.
imu_gravity_time_constant = 10.,
pose_extrapolator = {
use_imu_based = false,
constant_velocity = {
imu_gravity_time_constant = 10.,
pose_queue_duration = 0.001,
},
-- TODO(wohe): Tune these parameters on the example datasets.
imu_based = {
pose_queue_duration = 5.,
gravity_constant = 9.806,
pose_translation_weight = 1.,
pose_rotation_weight = 1.,
imu_acceleration_weight = 1.,
imu_rotation_weight = 1.,
odometry_translation_weight = 1.,
odometry_rotation_weight = 1.,
solver_options = {
use_nonmonotonic_steps = false;
max_num_iterations = 10;
num_threads = 1;
},
},
},
submaps = {
-- 2种分辨率的地图
high_resolution = 0.10, -- 用于近距离测量的高分辨率hybrid网格 for local SLAM and loop closure, 用来与小尺寸voxel进行精匹配
high_resolution_max_range = 20., -- 在插入 high_resolution map 之前过滤点云的最大范围
low_resolution = 0.45,
num_range_data = 160, -- 用于远距离测量的低分辨率hybrid网格 for local SLAM only, 用来与大尺寸voxel进行粗匹配
range_data_inserter = {
hit_probability = 0.55,
miss_probability = 0.49,
num_free_space_voxels = 2,
intensity_threshold = INTENSITY_THRESHOLD,
},
},
-- When setting use_intensites to true, the intensity_cost_function_options_0
-- parameter in ceres_scan_matcher has to be set up as well or otherwise
-- CeresScanMatcher will CHECK-fail.
use_intensities = false,
}
rs16_2d_outdoor.lua中包含的子lua文件
include "pose_graph.lua"
MAP_BUILDER = {
use_trajectory_builder_2d = false, --2d和3d一定要有一个为true,且只能有一个,可以在1中的主lua里重写配置
use_trajectory_builder_3d = false,
num_background_threads = 4,
pose_graph = POSE_GRAPH,
collate_by_trajectory = false,
map_builder.lua中包含的子lua文件,主要为后端参数设置
-- 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.
POSE_GRAPH = {
-- 每隔多少个节点执行一次后端优化
optimize_every_n_nodes = 90, --一般设置成2倍的submaps.num_range_data
-- 约束构建的相关参数
constraint_builder = {
sampling_ratio = 0.3, -- 对局部子图进行回环检测时的计算频率, 数值越大, 计算次数越多
max_constraint_distance = 15., -- 对局部子图进行回环检测时能成为约束的最大距离
min_score = 0.55, -- 对局部子图进行回环检测时的最低分数阈值
global_localization_min_score = 0.6, -- 对整体子图进行回环检测时的最低分数阈值
loop_closure_translation_weight = 1.1e4,
loop_closure_rotation_weight = 1e5,
log_matches = true, -- 打印约束计算的log
-- 基于分支定界算法的2d粗匹配器
fast_correlative_scan_matcher = {
linear_search_window = 7.,
angular_search_window = math.rad(30.),
branch_and_bound_depth = 7,
},
-- 基于ceres的2d精匹配器
ceres_scan_matcher = {
occupied_space_weight = 20.,
translation_weight = 10.,
rotation_weight = 1.,
ceres_solver_options = {
use_nonmonotonic_steps = true,
max_num_iterations = 10,
num_threads = 1,
},
},
-- 基于分支定界算法的3d粗匹配器
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.),
},
-- 基于ceres的3d精匹配器
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,
matcher_rotation_weight = 1.6e3,
-- 优化残差方程的相关参数
optimization_problem = {
huber_scale = 1e1, -- 值越大,(潜在)异常值的影响就越大
acceleration_weight = 1.1e2, -- 3d里imu的线加速度的权重
rotation_weight = 1.6e4, -- 3d里imu的旋转的权重
-- 前端结果残差的权重
local_slam_pose_translation_weight = 1e5,
local_slam_pose_rotation_weight = 1e5,
-- 里程计残差的权重
odometry_translation_weight = 1e5,
odometry_rotation_weight = 1e5,
-- gps残差的权重
fixed_frame_pose_translation_weight = 1e1,
fixed_frame_pose_rotation_weight = 1e2,
fixed_frame_pose_use_tolerant_loss = false,
fixed_frame_pose_tolerant_loss_param_a = 1,
fixed_frame_pose_tolerant_loss_param_b = 1,
log_solver_summary = false,
use_online_imu_extrinsics_in_3d = true,
fix_z_in_3d = false,
ceres_solver_options = {
use_nonmonotonic_steps = false,
max_num_iterations = 50,
num_threads = 7,
},
},
max_num_final_iterations = 200, -- 在建图结束之后执行一次全局优化, 不要求实时性, 迭代次数多
global_sampling_ratio = 0.003, -- 纯定位时候查找回环的频率
log_residual_histograms = true,
global_constraint_search_after_n_seconds = 10., -- 纯定位时多少秒执行一次全子图的约束计算
-- overlapping_submaps_trimmer_2d = {
-- fresh_submaps_count = 1,
-- min_covered_area = 2,
-- min_added_submaps_count = 5,
-- },
}
将常用的调整参数列写如下:
--雷达的最大最小距离
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 100.
--使用多高以上的点云,单线的时候不要设置,多线防止打到地面上的点干扰建图
TRAJECTORY_BUILDER_2D.min_z = 0.2 -- / -0.8
--体素滤波参数
TRAJECTORY_BUILDER_2D.voxel_filter_size = 0.02
--ceres地图的扫描,平移,旋转的权重,影响建图效果,其他基本上是影响计算量等
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 10.--扫描匹配点云和地图匹配程度,值越大,点云和地图匹配置信度越高
--残差平移、旋转分量,值越大,越不相信和地图匹配的效果,而是越相信先验位姿的结果
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 1.
--如果imu不好,接入后地图旋转厉害,可以将这里的旋转权重减小
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1.
--一个子图插入多少个节点,optimize_every_n_nodes=80*2
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 80.
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.1 -- / 0.02
POSE_GRAPH.optimize_every_n_nodes = 160. -- 2倍的num_range_data以上
POSE_GRAPH.constraint_builder.sampling_ratio = 0.3
POSE_GRAPH.constraint_builder.max_constraint_distance = 15.
--回环检测阈值,如果不稳定有错误匹配,可以提高这两个值,场景重复可以降低或者关闭回环
POSE_GRAPH.constraint_builder.min_score = 0.48
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.60
wheeltec大车出现建图效果很差的情况,可以通过调整一下参数进行调整,同时还可以通过降低调整旋转的权重改善旋转时候偏差过大;同时在走廊里进行建图时,因为走廊中场景重复度较高,回环检测导致误匹配,此时关了回环检测用纯激光建图即可。