kaarta STENCIL 2 - Page 115

115
• scanLineLimits: [ ] - Limit a range of azimuth angles on a range of laser planes.
E.g. [0,2] will ignore first through third lowest scan planes within the angleLimits specified
below.
• angleLimits: [ ] # Angle range to ignore, in degrees, from 0 to 360. E.g. [45,90] will
ignore angles between 45 and 90 using the scanLinesLimits specified above.
• ignoreIMU: false - Do NOT set to true. Stencil performs better with IMU enabled
laserOdometry:
• threadCount: 1 – Number of threads to use for the laserOdometry process.
• skipFrameNum: 0 - Number of scans to skip when calculating lidar velocity estimates.
• motionSensitive: false - Set the value to true for mostly vegetated areas or runs with
dynamic motion
• 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 only.
• useIMURollPitchOnly: false – Set to true if you want to ignore yaw data from the IMU.
• imuUpdateBiasRatio: 0.02 - Configured at the factory. Not meant for user changes.
• maximumIterations: 25 – The number of iterations before exiting the laserOdometry
process if the the following three parameters are not satisfied. Changing these can
increases processing time, but may produce better results when moving quickly /
accelerating. Increase only for replaying data.
• matchingRotationThreshold: 0.1 – Error minimum in meters for rotations
• matchingTranslationThreshold: 0.1 – Error minimum in meters for translations
• matchingDurationThreshold: 0.25 – Maximum time in seconds for laserOdometry.
laserMapping:
• threadCount: 2 - Number of threads to use for the laserMapping process.
• dwsizeCloud: false - Set to true if you want to down sample the registered scans spatially.
It will downsize the scan frames per the dwVoxelSize parameter specified.
• dwVoxelSize: 0.4
• cornerVoxelSize: 0.2 - Resolution of the corner voxels for scan matching. In tight areas,
reduce the values by 50 %. In open areas, increase by 50 %.
• surfVoxelSize: 0.4 - Resolution of the surface voxels for scan matching. In tight areas,
reduce the values by 50 %. In open areas, increase by 50 %.
• surroundVoxelSize: - Resolution of the point cloud for display in the Kaarta UI (or RVIZ).
• localizationDecayDis: 25 – Decay distance used in localization modes to ensure you
are scan matching primarily on the prior map and not overridden by new scan data.
• mappingDecayDis: 100 - Travel distance in meters after which the laser points are
“forgotten” and not used in matching incoming scan data. A value of 0 is used to remember
all data and should be used only for replaying data. A value of 0 is useful for interior scans