package cartographer.mapping.constraints.proto

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Used in: proto.PoseGraphOptions

• double min_local_search_score = 1

  Threshold for the scan match score below which a match is not considered. Low scores indicate that the scan and map do not look similar.

• double min_global_search_score = 2

  Threshold below which global localizations are not trusted.

• double constraint_translation_weight = 3

  Weight used in the optimization problem for the translational component of loop closure constraints.

• double constraint_rotation_weight = 4

  Weight used in the optimization problem for the rotational component of loop closure constraints.

• optional scan_matching.proto.CeresScanMatcherOptions2D ceres_scan_matcher_options = 6

  Options for the internally used scan matcher

• optional scan_matching.proto.GlobalICPScanMatcherOptions2D global_icp_scan_matcher_options_2d = 7

• double min_icp_score = 8

  Minimum score to consider an ICP scan match successful

• double min_icp_points_inlier_fraction = 9

• double min_icp_features_inlier_fraction = 10

• double min_hit_fraction = 11

  Minimum scan agreement required for a successful scan match

• double min_ray_trace_fraction = 12

• double min_icp_features_match_fraction = 13