Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
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How to limit the value of an output of translation and rotation #1896
[ INFO] [1658322264.160917322]: I0720 21:04:24.000000 19947 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 1) differs by translation 0.07 rotation 0.026 with score 73.9%. [ INFO] [1658322264.161230496]: I0720 21:04:24.000000 19944 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 5) differs by translation 4.43 rotation 0.016 with score 54.8%. [ INFO] [1658322264.161641100]: I0720 21:04:24.000000 19945 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 0) differs by translation 4.44 rotation 0.014 with score 52.4%. [ INFO] [1658322264.163067423]: I0720 21:04:24.000000 19944 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 8) differs by translation 0.28 rotation 0.000 with score 70.5%. [ INFO] [1658322264.163410699]: I0720 21:04:24.000000 19946 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 6) differs by translation 4.44 rotation 0.012 with score 54.5%. [ INFO] [1658322264.163669675]: I0720 21:04:24.000000 19947 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 7) differs by translation 0.11 rotation 0.044 with score 76.3%. [ INFO] [1658322264.164827455]: I0720 21:04:24.000000 19945 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 9) differs by translation 4.41 rotation 0.006 with score 56.8%. [ INFO] [1658322264.619612577]: I0720 21:04:24.000000 19946 constraint_builder_2d.cc:374] Node (25, 1550) with 201 points on submap (25, 15) differs by translation 0.02 rotation 0.018 with score 82.7%. [ INFO] [1658322264.620270144]: I0720 21:04:24.000000 19947 constraint_builder_2d.cc:374] Node (25, 1550) with 201 points on submap (25, 16) differs by translation 0.09 rotation 0.022 with score 83.4%. [ INFO] [1658322264.620843830]: I0720 21:04:24.000000 19945 constraint_builder_2d.cc:374] Node (25, 1550) with 201 points on submap (25, 17) differs by translation 0.03 rotation 0.015 with score 85
when i using the cartographer to location, my car's speed is slowly, but i need to through a Speed bumps，my lidar is 2d, and when i through the speed bump, the point cloud will move little to up or down, which result the cartographer calculate rotation and translation change huge, maybe this time is 0.02, but next time is 3.02。
how can i result it by change the cartographer parameters, please help!!!!!
[ INFO] [1658322264.160917322]: I0720 21:04:24.000000 19947 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 1) differs by translation 0.07 rotation 0.026 with score 73.9%. [ INFO] [1658322264.161230496]: I0720 21:04:24.000000 19944 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 5) differs by translation 4.43 rotation 0.016 with score 54.8%. [ INFO] [1658322264.161641100]: I0720 21:04:24.000000 19945 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 0) differs by translation 4.44 rotation 0.014 with score 52.4%. [ INFO] [1658322264.163067423]: I0720 21:04:24.000000 19944 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 8) differs by translation 0.28 rotation 0.000 with score 70.5%. [ INFO] [1658322264.163410699]: I0720 21:04:24.000000 19946 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 6) differs by translation 4.44 rotation 0.012 with score 54.5%. [ INFO] [1658322264.163669675]: I0720 21:04:24.000000 19947 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 7) differs by translation 0.11 rotation 0.044 with score 76.3%. [ INFO] [1658322264.164827455]: I0720 21:04:24.000000 19945 constraint_builder_2d.cc:374] Node (25, 1549) with 203 points on submap (0, 9) differs by translation 4.41 rotation 0.006 with score 56.8%. [ INFO] [1658322264.619612577]: I0720 21:04:24.000000 19946 constraint_builder_2d.cc:374] Node (25, 1550) with 201 points on submap (25, 15) differs by translation 0.02 rotation 0.018 with score 82.7%. [ INFO] [1658322264.620270144]: I0720 21:04:24.000000 19947 constraint_builder_2d.cc:374] Node (25, 1550) with 201 points on submap (25, 16) differs by translation 0.09 rotation 0.022 with score 83.4%. [ INFO] [1658322264.620843830]: I0720 21:04:24.000000 19945 constraint_builder_2d.cc:374] Node (25, 1550) with 201 points on submap (25, 17) differs by translation 0.03 rotation 0.015 with score 85when i using the cartographer to location, my car's speed is slowly, but i need to through a Speed bumps，my lidar is 2d, and when i through the speed bump, the point cloud will move little to up or down, which result the cartographer calculate rotation and translation change huge, maybe this time is 0.02, but next time is 3.02。
how can i result it by change the cartographer parameters, please help!!!!!