package cartographer.mapping.scan_matching.proto

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NEXT ID: 10

Used in: constraints.proto.ConstraintBuilderOptions, proto.LocalTrajectoryBuilderOptions2D

• double occupied_space_weight = 1

  Scaling parameters for each cost functor.

• double translation_weight = 2

• double rotation_weight = 3

• optional common.proto.CeresSolverOptions ceres_solver_options = 9

  Configure the Ceres solver. See the Ceres documentation for more information: https://code.google.com/p/ceres-solver/

• double linear_search_window = 3

  Minimum linear search window in which the best possible scan alignment will be found.

• double angular_search_window = 4

  Minimum angular search window in which the best possible scan alignment will be found.

• int32 branch_and_bound_depth = 2

  Number of precomputed grids to use.

Used in: constraints.proto.ConstraintBuilderOptions

• int32 num_global_samples_per_sq_m = 1

• int32 num_global_rotations = 2

• double proposal_point_inlier_threshold = 3

• double proposal_feature_inlier_threshold = 4

• double proposal_min_points_inlier_fraction = 5

• double proposal_min_features_inlier_fraction = 6

• double proposal_features_weight = 7

• double proposal_points_weight = 8

• double proposal_raytracing_max_error = 9

• double proposal_max_points_error = 10

• double proposal_max_features_error = 11

• double proposal_max_error = 12

• int32 min_cluster_size = 13

• int32 max_cluster_size = 14

• double min_cluster_distance = 15

• int32 num_local_samples = 16

• double local_sample_linear_distance = 17

• double local_sample_angular_distance = 18

• optional ICPScanMatcherOptions2D icp_options = 19

Used in: GlobalICPScanMatcherOptions2D

• double nearest_neighbour_point_huber_loss = 1

• double nearest_neighbour_feature_huber_loss = 2

• double point_pair_point_huber_loss = 3

• double point_pair_feature_huber_loss = 4

• double point_weight = 6

• double feature_weight = 7

• double point_inlier_threshold = 8

  pairs with and error greater than this are not included in the optimisation

• double feature_inlier_threshold = 9

• double raytrace_threshold = 10

  Used for evaluating a match

• double hit_threshold = 11

• double feature_match_threshold = 12

• double linear_search_window = 1

  Minimum linear search window in which the best possible scan alignment will be found.

• double angular_search_window = 2

  Minimum angular search window in which the best possible scan alignment will be found.

• double translation_delta_cost_weight = 3

  Weights applied to each part of the score.

• double rotation_delta_cost_weight = 4