kaarta STENCIL 2 - Page 116

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and paths that intersect frequently. Setting a value of 35 - 65 is useful for longer linear
scans where you do not come back to an intersecting trajectory frequently. This parameter
is useful to prevent incoming scan data from being registered against a part of the
registered map that has drifted over longer distances distorting the map locally which
cannot be fixed using the Loop Closure Tool.
• 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
• useIMURollPitchOnly: false – Set to true if you want to ignore yaw data from the IMU.
• throttleTimeLB: 0.15 – Number of seconds to allow for processing of scan frames. Not
meant for user changes
• throttleTimeUB: 0.22 – Number of seconds to allow for processing of scan frames. Not
meant for user changes
• updateSkipDis: - 1.0 - Not meant for user changes
• imuLatencyOffset: 0.0 – Set at the factory. Not meant for user changes
• confidenceThreshold: 0 – Stencil will reject bad matches if this value to set to anything
larger than 0. This is most useful when replaying data. Typical values could be 25,000 –
50,000 as confidence metrics can go extremely high. By looking at the confidence plot
during scanning or data replay, the user can make an informed selection here. Setting this
parameter too high will result in discontinuous maps where Stencil starts building a new
map if too many scans are rejected in a row due to confidence values lower than the
parameter. Note that the Loop Closure Tool uses the recorded values of these parameters
in arranging stacks of scan frames for matching back to the map.
• imuUpdateBiasRatio: 0 - Set at the factory. Not meant for user changes
laserMatching:
• threadCount: 2 - Number of threads to use for the laserMatching process.
• useMatching: true – set to false if you want to use only IMU and visual odometry data for
scan matching. Not recommended.
• useCamToInit: false - Not meant for user changes
• camInitRadius: 4.0 - Not meant for user changes
• 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
• useIMURollPitchOnly: false – Set to true if you want to ignore yaw data from the IMU.
• pointSearchRadius: 1.0 – Range in meters to look for matching features in the lidar
data. Set this to 3 or 5 in replay mode to increase the search area for scan matches.