32 lines
1.1 KiB
Protocol Buffer
32 lines
1.1 KiB
Protocol Buffer
// Copyright 2016 The Cartographer Authors
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
syntax = "proto2";
|
|
|
|
package cartographer.mapping_3d.proto;
|
|
|
|
message RangeDataInserterOptions {
|
|
// Probability change for a hit (this will be converted to odds and therefore
|
|
// must be greater than 0.5).
|
|
optional double hit_probability = 1;
|
|
|
|
// Probability change for a miss (this will be converted to odds and therefore
|
|
// must be less than 0.5).
|
|
optional double miss_probability = 2;
|
|
|
|
// Up to how many free space voxels are updated for scan matching.
|
|
// 0 disables free space.
|
|
optional int32 num_free_space_voxels = 3;
|
|
}
|