package cartographer.mapping.optimization.proto

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NEXT ID: 26

Used in: proto.PoseGraphOptions

• double huber_scale = 1

  Scaling parameter for Huber loss function.

• double acceleration_weight = 8

  Scaling parameter for the IMU acceleration term.

• double rotation_weight = 9

  Scaling parameter for the IMU rotation term.

• double local_slam_pose_translation_weight = 14

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

• double local_slam_pose_rotation_weight = 15

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

• double odometry_translation_weight = 16

  Scaling parameter for translation between consecutive nodes based on the odometry.

• double odometry_rotation_weight = 17

  Scaling parameter for rotation between consecutive nodes based on the odometry.

• double fixed_frame_pose_translation_weight = 11

  Scaling parameter for the FixedFramePose translation. Unit: 1/meters.

• double fixed_frame_pose_rotation_weight = 12

  Scaling parameter for the FixedFramePose rotation.

• bool fixed_frame_pose_use_tolerant_loss = 23

• double fixed_frame_pose_tolerant_loss_param_a = 24

  The following parameters are used only if fixed_frame_pose_use_tolerant_loss is true. See http://ceres-solver.org/nnls_modeling.html. For large values of s, the tolerant loss function approaches a null loss with fixed_frame_pose_translation_weight.

• double fixed_frame_pose_tolerant_loss_param_b = 25

• bool fix_z_in_3d = 13

  3D only: fix Z.

• bool use_online_imu_extrinsics_in_3d = 18

  3D only: activate online IMU extrinsics.

• bool log_solver_summary = 5

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

• optional common.proto.CeresSolverOptions ceres_solver_options = 7