package cartographer.mapping.constraints.proto

Get desktop application:
View/edit binary Protocol Buffers messages

Used in: proto.PoseGraphOptions

• double sampling_ratio = 1

  A constraint will be added if the proportion of added constraints to potential constraints drops below this number.

• double max_constraint_distance = 2

  Threshold for poses to be considered near a submap.

• double min_score = 4

  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 global_localization_min_score = 5

  Threshold below which global localizations are not trusted.

• double loop_closure_translation_weight = 13

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

• double loop_closure_rotation_weight = 14

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

• bool log_matches = 8

  If enabled, logs information of loop-closing constraints for debugging.

• optional scan_matching.proto.FastCorrelativeScanMatcherOptions2D fast_correlative_scan_matcher_options = 9

  Options for the internally used scan matchers.

• optional scan_matching.proto.CeresScanMatcherOptions2D ceres_scan_matcher_options = 11

• optional scan_matching.proto.FastCorrelativeScanMatcherOptions3D fast_correlative_scan_matcher_options_3d = 10

• optional scan_matching.proto.CeresScanMatcherOptions3D ceres_scan_matcher_options_3d = 12

• int32 every_nodes_to_find_constraint = 20

  options for submap-to-submap constraint building

• int32 cv_binary_threshold = 21

• int32 cv_structure_element_size = 15

• double good_match_ratio_of_distance = 16

• int32 minimum_good_match_num = 17

• double ransac_thresh_of_2d_transform_estimate = 18

• double scale_estimated_tolerance = 19