kaarta STENCIL 2 - Page 117

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• eigenvalueThreshold: 100 - Threshold for evaluating degeneracy - Can change based
on scenario, i.e. outdoor vs indoor scan.
• maximumIterations: 10 – Max number of iterations to use for matching scan frames.
Increase to 25 or 50 only for playback as it greatly increases processing load for real time
scanning.
• matchingRotationThreshold: 0.05 – Error maximum in meters for determining the
accuracy when matching scan frames. Lower to 0.1 only for playback as it greatly increases
processing load for live scanning.
• matchingTranslationThreshold: 0.05 - Error maximum in meters for determining the
accuracy when matching scan frames. Lower to 0.1 only for playback as it greatly increases
processing load for live scanning.
• matchingDurationThreshold: 0.35 – Maximum time in seconds to allow for
laserMatching to complete before timing out. Increase only for replaying data.
transformMaintainance:
• odomSmoothRate, imuSmoothRate, veloSmoothRate, poseSmoothRate:
Determines the amount of smoothing by a low pass filter for the final pose output. These
values are used when processing with the Feature Tracker. Setting the rates to 1 removes
the smoothing. Default values are 0.2, 0.05, 0.1, and 0.1 respectively.
• useImuAcceleration: true - Set to false if you want to use only the orientation from the
IMU but not acceleration. This is helpful when there is a lot of vehicle vibration.
• 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
ueye_cam_nodelet:
• saturationTarget: 100 – Setting to control auto-exposure.
OdomFuserNodelet:
• useLevelMotion: false – Set to true if you want to ignore roll and pitch
• 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).
• useImuAcceleration: true. Set to false if you want to use only the orientation from the
IMU but not acceleration. This is helpful when there is a lot of vehicle vibration.
• imuLatencyOffset: 0 – Configured at the factory. Not meant for user changes
• resetShiftCount: 200 – Configured at the factory. Not meant for user changes
• odomDelayBeforePub: 0.1 – Configured at the factory. Not meant for user changes
• imuBufferSize: 200 – Configured at the factory. Not meant for user changes