60 lines
2.5 KiB
Protocol Buffer
60 lines
2.5 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 = "proto3";
|
|
|
|
package cartographer.mapping.pose_graph.proto;
|
|
|
|
import "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto";
|
|
import "cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto";
|
|
import "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.proto";
|
|
import "cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options.proto";
|
|
|
|
message ConstraintBuilderOptions {
|
|
// A constraint will be added if the proportion of added constraints to
|
|
// potential constraints drops below this number.
|
|
double sampling_ratio = 1;
|
|
|
|
// Threshold for poses to be considered near a submap.
|
|
double max_constraint_distance = 2;
|
|
|
|
// 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 min_score = 4;
|
|
|
|
// Threshold below which global localizations are not trusted.
|
|
double global_localization_min_score = 5;
|
|
|
|
// Weight used in the optimization problem for the translational component of
|
|
// loop closure constraints.
|
|
double loop_closure_translation_weight = 13;
|
|
|
|
// Weight used in the optimization problem for the rotational component of
|
|
// loop closure constraints.
|
|
double loop_closure_rotation_weight = 14;
|
|
|
|
// If enabled, logs information of loop-closing constraints for debugging.
|
|
bool log_matches = 8;
|
|
|
|
// Options for the internally used scan matchers.
|
|
mapping.scan_matching.proto.FastCorrelativeScanMatcherOptions2D
|
|
fast_correlative_scan_matcher_options = 9;
|
|
mapping.scan_matching.proto.CeresScanMatcherOptions2D
|
|
ceres_scan_matcher_options = 11;
|
|
mapping_3d.scan_matching.proto.FastCorrelativeScanMatcherOptions
|
|
fast_correlative_scan_matcher_options_3d = 10;
|
|
mapping_3d.scan_matching.proto.CeresScanMatcherOptions
|
|
ceres_scan_matcher_options_3d = 12;
|
|
}
|