package cartographer.mapping.optimization.proto

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Used in: proto.PoseGraphOptions

• double huber_scale = 1

  Scaling parameter for Huber loss function.

• double local_slam_pose_translation_weight = 2

  Scaling parameter for translation between consecutive nodes based on the local SLAM pose.

• double local_slam_pose_rotation_weight = 3

  Scaling parameter for rotation between consecutive nodes based on the local SLAM pose.

• double fixed_frame_pose_translation_weight = 6

  Scaling parameter for the FixedFramePose translation.

• double fixed_frame_pose_rotation_weight = 7

  Scaling parameter for the FixedFramePose rotation.

• bool log_solver_summary = 8

  If true, the Ceres solver summary will be logged for every optimization.

• optional common.proto.CeresSolverOptions ceres_solver_options = 9