41 lines
1.4 KiB
Protocol Buffer
41 lines
1.4 KiB
Protocol Buffer
// Copyright 2016 The Cartographer Authors
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//
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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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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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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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syntax = "proto3";
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import "cartographer/mapping/proto/range_data_inserter_options_3d.proto";
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package cartographer.mapping.proto;
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message SubmapsOptions3D {
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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 = 1;
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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 high_resolution_max_range = 4;
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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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double low_resolution = 5;
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// Number of range data before adding a new submap. Each submap will get twice
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// the number of range data inserted: First for initialization without being
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// matched against, then while being matched.
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int32 num_range_data = 2;
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RangeDataInserterOptions3D range_data_inserter_options = 3;
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}
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