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update document about pure localization #1623

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update document about pure localization #1623

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13 changes: 10 additions & 3 deletions docs/source/tuning.rst
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Expand Up @@ -164,14 +164,21 @@ First, we expect a lower latency of both local and global SLAM.
Second, global SLAM will usually find a very large number of inter constraints between the frozen trajectory
that serves as a map and the current trajectory.

To tune for pure localization, we should first enable ``TRAJECTORY_BUILDER.pure_localization = true`` and
strongly decrease ``POSE_GRAPH.optimize_every_n_nodes`` to receive frequent results.
To tune for pure localization, we should first trim submaps and only keep those that are fresh.

.. code-block:: lua

TRAJECTORY_BUILDER.pure_localization_trimmer = {
max_submaps_to_keep = 3,
}

Strongly decrease ``POSE_GRAPH.optimize_every_n_nodes`` to receive frequent results.
With these settings, global SLAM will usually be too slow and cannot keep up.
As a next step, we strongly decrease ``global_sampling_ratio`` and ``constraint_builder.sampling_ratio``
to compensate for the large number of constraints.
We then tune for lower latency as explained above until the system reliably works in real time.

If you run in ``pure_localization``, ``submaps.resolution`` **should be matching** with the resolution of the submaps in the ``.pbstream`` you are running on.
If you run in localization-only mode, ``submaps.resolution`` **should be matching** with the resolution of the submaps in the ``.pbstream`` you are running on.
Using different resolutions is currently untested and may not work as expected.

Odometry in Global Optimization
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