470 lines
15 KiB
ReStructuredText
470 lines
15 KiB
ReStructuredText
.. Copyright 2016 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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=============
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Configuration
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=============
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.. DO NOT EDIT! This documentation is AUTOGENERATED, please edit .proto files as
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.. needed and run scripts/update_configuration_doc.py.
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cartographer.common.proto.CeresSolverOptions
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============================================
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bool use_nonmonotonic_steps
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Configure the Ceres solver. See the Ceres documentation for more
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information: https://code.google.com/p/ceres-solver/
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int32 max_num_iterations
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Not yet documented.
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int32 num_threads
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Not yet documented.
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cartographer.mapping.proto.MapBuilderOptions
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============================================
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bool use_trajectory_builder_2d
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Not yet documented.
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bool use_trajectory_builder_3d
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Not yet documented.
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int32 num_background_threads
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Number of threads to use for background computations.
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cartographer.mapping.proto.SparsePoseGraphOptions sparse_pose_graph_options
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Not yet documented.
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cartographer.mapping.proto.SparsePoseGraphOptions
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=================================================
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int32 optimize_every_n_scans
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Online loop closure: If positive, will run the loop closure while the map
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is built.
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cartographer.mapping.sparse_pose_graph.proto.ConstraintBuilderOptions constraint_builder_options
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Options for the constraint builder.
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double matcher_translation_weight
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Weight used in the optimization problem for the translational component of
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non-loop-closure scan matcher constraints.
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double matcher_rotation_weight
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Weight used in the optimization problem for the rotational component of
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non-loop-closure scan matcher constraints.
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cartographer.mapping.sparse_pose_graph.proto.OptimizationProblemOptions optimization_problem_options
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Options for the optimization problem.
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int32 max_num_final_iterations
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Number of iterations to use in 'optimization_problem_options' for the final
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optimization.
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double global_sampling_ratio
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Rate at which we sample a single trajectory's scans for global
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localization.
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cartographer.mapping.proto.TrajectoryBuilderOptions
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===================================================
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cartographer.mapping_2d.proto.LocalTrajectoryBuilderOptions trajectory_builder_2d_options
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Not yet documented.
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cartographer.mapping_3d.proto.LocalTrajectoryBuilderOptions trajectory_builder_3d_options
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Not yet documented.
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bool pure_localization
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Not yet documented.
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cartographer.mapping.sparse_pose_graph.proto.ConstraintBuilderOptions
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=====================================================================
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double sampling_ratio
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A constraint will be added if the proportion of added constraints to
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potential constraints drops below this number.
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double max_constraint_distance
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Threshold for poses to be considered near a submap.
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cartographer.sensor.proto.AdaptiveVoxelFilterOptions adaptive_voxel_filter_options
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This is only used for 2D.
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Voxel filter used to compute a sparser point cloud for matching.
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double min_score
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Threshold for the scan match score below which a match is not considered.
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Low scores indicate that the scan and map do not look similar.
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double global_localization_min_score
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Threshold below which global localizations are not trusted.
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double loop_closure_translation_weight
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Weight used in the optimization problem for the translational component of
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loop closure constraints.
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double loop_closure_rotation_weight
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Weight used in the optimization problem for the rotational component of
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loop closure constraints.
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bool log_matches
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If enabled, logs information of loop-closing constraints for debugging.
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cartographer.mapping_2d.scan_matching.proto.FastCorrelativeScanMatcherOptions fast_correlative_scan_matcher_options
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Options for the internally used scan matchers.
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cartographer.mapping_2d.scan_matching.proto.CeresScanMatcherOptions ceres_scan_matcher_options
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Not yet documented.
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cartographer.mapping_3d.scan_matching.proto.FastCorrelativeScanMatcherOptions fast_correlative_scan_matcher_options_3d
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Not yet documented.
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cartographer.sensor.proto.AdaptiveVoxelFilterOptions high_resolution_adaptive_voxel_filter_options
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Voxel filter used for high resolution, only used for 3D loop closure.
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cartographer.sensor.proto.AdaptiveVoxelFilterOptions low_resolution_adaptive_voxel_filter_options
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Voxel filter used for low resolution, 3D loop closure refinement.
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cartographer.mapping_3d.scan_matching.proto.CeresScanMatcherOptions ceres_scan_matcher_options_3d
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Not yet documented.
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cartographer.mapping.sparse_pose_graph.proto.OptimizationProblemOptions
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=======================================================================
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double huber_scale
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Scaling parameter for Huber loss function.
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double acceleration_weight
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Scaling parameter for the IMU acceleration term.
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double rotation_weight
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Scaling parameter for the IMU rotation term.
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double consecutive_scan_translation_penalty_factor
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Penalty factors for changes to the relative pose between consecutive scans.
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double consecutive_scan_rotation_penalty_factor
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Not yet documented.
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bool log_solver_summary
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If true, the Ceres solver summary will be logged for every optimization.
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cartographer.common.proto.CeresSolverOptions ceres_solver_options
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Not yet documented.
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cartographer.mapping_2d.proto.LocalTrajectoryBuilderOptions
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===========================================================
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float min_range
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Rangefinder points outside these ranges will be dropped.
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float max_range
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Not yet documented.
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float min_z
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Not yet documented.
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float max_z
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Not yet documented.
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float missing_data_ray_length
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Points beyond 'max_range' will be inserted with this length as empty space.
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int32 scans_per_accumulation
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Number of scans to accumulate into one unwarped, combined scan to use for
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scan matching.
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float voxel_filter_size
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Voxel filter that gets applied to the range data immediately after
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cropping.
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cartographer.sensor.proto.AdaptiveVoxelFilterOptions adaptive_voxel_filter_options
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Voxel filter used to compute a sparser point cloud for matching.
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bool use_online_correlative_scan_matching
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Whether to solve the online scan matching first using the correlative scan
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matcher to generate a good starting point for Ceres.
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cartographer.mapping_2d.scan_matching.proto.RealTimeCorrelativeScanMatcherOptions real_time_correlative_scan_matcher_options
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Not yet documented.
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cartographer.mapping_2d.scan_matching.proto.CeresScanMatcherOptions ceres_scan_matcher_options
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Not yet documented.
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cartographer.mapping_3d.proto.MotionFilterOptions motion_filter_options
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Not yet documented.
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double imu_gravity_time_constant
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Time constant in seconds for the orientation moving average based on
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observed gravity via the IMU. It should be chosen so that the error
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1. from acceleration measurements not due to gravity (which gets worse when
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the constant is reduced) and
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2. from integration of angular velocities (which gets worse when the
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constant is increased) is balanced.
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cartographer.mapping_2d.proto.SubmapsOptions submaps_options
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Not yet documented.
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bool use_imu_data
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True if IMU data should be expected and used.
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cartographer.mapping_2d.proto.RangeDataInserterOptions
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======================================================
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double hit_probability
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Probability change for a hit (this will be converted to odds and therefore
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must be greater than 0.5).
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double miss_probability
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Probability change for a miss (this will be converted to odds and therefore
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must be less than 0.5).
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bool insert_free_space
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If 'false', free space will not change the probabilities in the occupancy
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grid.
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cartographer.mapping_2d.proto.SubmapsOptions
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============================================
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double resolution
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Resolution of the map in meters.
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int32 num_range_data
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Number of scans before adding a new submap. Each submap will get twice the
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number of scans inserted: First for initialization without being matched
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against, then while being matched.
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cartographer.mapping_2d.proto.RangeDataInserterOptions range_data_inserter_options
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Not yet documented.
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cartographer.mapping_2d.scan_matching.proto.CeresScanMatcherOptions
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===================================================================
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double occupied_space_weight
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Scaling parameters for each cost functor.
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double translation_weight
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Not yet documented.
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double rotation_weight
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Not yet documented.
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cartographer.common.proto.CeresSolverOptions ceres_solver_options
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Configure the Ceres solver. See the Ceres documentation for more
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information: https://code.google.com/p/ceres-solver/
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cartographer.mapping_2d.scan_matching.proto.FastCorrelativeScanMatcherOptions
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=============================================================================
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double linear_search_window
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Minimum linear search window in which the best possible scan alignment
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will be found.
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double angular_search_window
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Minimum angular search window in which the best possible scan alignment
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will be found.
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int32 branch_and_bound_depth
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Number of precomputed grids to use.
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cartographer.mapping_2d.scan_matching.proto.RealTimeCorrelativeScanMatcherOptions
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=================================================================================
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double linear_search_window
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Minimum linear search window in which the best possible scan alignment
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will be found.
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double angular_search_window
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Minimum angular search window in which the best possible scan alignment
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will be found.
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double translation_delta_cost_weight
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Weights applied to each part of the score.
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double rotation_delta_cost_weight
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Not yet documented.
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cartographer.mapping_3d.proto.LocalTrajectoryBuilderOptions
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===========================================================
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float min_range
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Rangefinder points outside these ranges will be dropped.
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float max_range
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Not yet documented.
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int32 scans_per_accumulation
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Number of scans to accumulate into one unwarped, combined scan to use for
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scan matching.
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float voxel_filter_size
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Voxel filter that gets applied to the range data immediately after
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cropping.
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cartographer.sensor.proto.AdaptiveVoxelFilterOptions high_resolution_adaptive_voxel_filter_options
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Voxel filter used to compute a sparser point cloud for matching.
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cartographer.sensor.proto.AdaptiveVoxelFilterOptions low_resolution_adaptive_voxel_filter_options
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Not yet documented.
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bool use_online_correlative_scan_matching
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Whether to solve the online scan matching first using the correlative scan
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matcher to generate a good starting point for Ceres.
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cartographer.mapping_2d.scan_matching.proto.RealTimeCorrelativeScanMatcherOptions real_time_correlative_scan_matcher_options
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Not yet documented.
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cartographer.mapping_3d.scan_matching.proto.CeresScanMatcherOptions ceres_scan_matcher_options
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Not yet documented.
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cartographer.mapping_3d.proto.MotionFilterOptions motion_filter_options
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Not yet documented.
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double imu_gravity_time_constant
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Time constant in seconds for the orientation moving average based on
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observed gravity via the IMU. It should be chosen so that the error
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1. from acceleration measurements not due to gravity (which gets worse when
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the constant is reduced) and
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2. from integration of angular velocities (which gets worse when the
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constant is increased) is balanced.
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cartographer.mapping_3d.proto.SubmapsOptions submaps_options
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Not yet documented.
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cartographer.mapping_3d.proto.MotionFilterOptions
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=================================================
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double max_time_seconds
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Threshold above which a new scan is inserted based on time.
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double max_distance_meters
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Threshold above which a new scan is inserted based on linear motion.
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double max_angle_radians
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Threshold above which a new scan is inserted based on rotational motion.
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cartographer.mapping_3d.proto.RangeDataInserterOptions
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======================================================
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double hit_probability
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Probability change for a hit (this will be converted to odds and therefore
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must be greater than 0.5).
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double miss_probability
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Probability change for a miss (this will be converted to odds and therefore
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must be less than 0.5).
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int32 num_free_space_voxels
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Up to how many free space voxels are updated for scan matching.
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0 disables free space.
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cartographer.mapping_3d.proto.SubmapsOptions
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============================================
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double high_resolution
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Resolution of the 'high_resolution' map in meters used for local SLAM and
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loop closure.
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double high_resolution_max_range
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Maximum range to filter the point cloud to before insertion into the
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'high_resolution' map.
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double low_resolution
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Resolution of the 'low_resolution' version of the map in meters used for
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local SLAM only.
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int32 num_range_data
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Number of scans before adding a new submap. Each submap will get twice the
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number of scans inserted: First for initialization without being matched
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against, then while being matched.
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cartographer.mapping_3d.proto.RangeDataInserterOptions range_data_inserter_options
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Not yet documented.
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cartographer.mapping_3d.scan_matching.proto.CeresScanMatcherOptions
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===================================================================
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double translation_weight
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Scaling parameters for each cost functor.
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double rotation_weight
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Not yet documented.
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bool only_optimize_yaw
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Whether only to allow changes to yaw, keeping roll/pitch constant.
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cartographer.common.proto.CeresSolverOptions ceres_solver_options
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Configure the Ceres solver. See the Ceres documentation for more
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information: https://code.google.com/p/ceres-solver/
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cartographer.mapping_3d.scan_matching.proto.FastCorrelativeScanMatcherOptions
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=============================================================================
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int32 branch_and_bound_depth
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Number of precomputed grids to use.
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int32 full_resolution_depth
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Number of full resolution grids to use, additional grids will reduce the
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resolution by half each.
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int32 rotational_histogram_size
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Number of histogram buckets for the rotational scan matcher.
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double min_rotational_score
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Minimum score for the rotational scan matcher.
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double linear_xy_search_window
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Linear search window in the plane orthogonal to gravity in which the best
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possible scan alignment will be found.
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double linear_z_search_window
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Linear search window in the gravity direction in which the best possible
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scan alignment will be found.
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double angular_search_window
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Minimum angular search window in which the best possible scan alignment
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will be found.
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cartographer.sensor.proto.AdaptiveVoxelFilterOptions
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====================================================
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float max_length
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'max_length' of a voxel edge.
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float min_num_points
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If there are more points and not at least 'min_num_points' remain, the
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voxel length is reduced trying to get this minimum number of points.
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float max_range
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Points further away from the origin are removed.
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