kaarta STENCIL 2 - Tight Indoor Environments Parameters

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TIGHT INDOOR ENVIRONMENTS
Environments such as office spaces
and underground mines, you can do
really well when using the Adaptive
Replay Tool.
For Live Scanning, you can decrease
the following three voxel
parameters to help in these
situations.
voxelSize: 0.1; cornerVoxelSize: 0.1;
surfVoxelSize: 0.2
Using the Adaptive Data Replay Tool, you can really maximize the scan matching process by
modifying the following parameters:
scanRegistration:
skipFrameNum: 0
voxelSize: 0
laserOdometry:
maximumIterations: 50
matchingRotationThreshold: 0.05
matchingTranslationThreshold: 0.05
matchingDurationThreshold: 0.5
laserMapping:
cornerVoxelSize: 0.1
surfVoxelSize: 0.2
mappingDecayDis: 0 If you frequently intersect your path throughout the scan
laserMatching:
pointSearchRadius: 3
maximumIterations: 50
matchingRotationThreshold: 0.01
matchingTranslationThreshold: 0.01
matchingDurationThreshold: 0.7