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/

NEXT ID: 8

Used in: constraints.proto.ConstraintBuilderOptions, proto.LocalTrajectoryBuilderOptions3D

• repeated double occupied_space_weight = 1

  Scaling parameters for each occupied space 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 common.proto.CeresSolverOptions ceres_solver_options = 6

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

• repeated IntensityCostFunctionOptions intensity_cost_function_options = 7

  Scaling parameters for each intensity cost functor.

Used in: constraints.proto.ConstraintBuilderOptions

• 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 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.

Used in: CeresScanMatcherOptions3D

• double weight = 1

• double huber_scale = 2

• float intensity_threshold = 3

  Ignore ranges with intensity above this threshold.

Used in: proto.LocalTrajectoryBuilderOptions2D, proto.LocalTrajectoryBuilderOptions3D

• 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