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