package cartographer.mapping.scan_matching.proto
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NEXT ID: 10
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double occupied_space_weight = 1
Scaling parameters for each cost functor.
double translation_weight = 2
double rotation_weight = 3
optional ceres_solver_options = 9
Configure the Ceres solver. See the Ceres documentation for more information: https://code.google.com/p/ceres-solver/
NEXT ID: 7
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repeated double occupied_space_weight = 1
Scaling parameters for each cost functor.
double translation_weight = 2
double rotation_weight = 3
bool only_optimize_yaw = 5
Whether only to allow changes to yaw, keeping roll/pitch constant.
optional ceres_solver_options = 6
Configure the Ceres solver. See the Ceres documentation for more information: https://code.google.com/p/ceres-solver/
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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:
int32 branch_and_bound_depth = 2
Number of precomputed grids to use.
int32 full_resolution_depth = 8
Number of full resolution grids to use, additional grids will reduce the resolution by half each.
double min_rotational_score = 4
Minimum score for the rotational scan matcher.
double min_low_resolution_score = 9
Threshold for the score of the low resolution grid below which a match is not considered. Only used for 3D.
double linear_xy_search_window = 5
Linear search window in the plane orthogonal to gravity in which the best possible scan alignment will be found.
double linear_z_search_window = 6
Linear search window in the gravity direction in which the best possible scan alignment will be found.
double angular_search_window = 7
Minimum angular search window in which the best possible scan alignment will be found.
optional ceres_solver_options = 1
Configure the Ceres solver. See the Ceres documentation for more information: https://code.google.com/p/ceres-solver/
Used in: ,
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