31 lines
1.0 KiB
Protocol Buffer
31 lines
1.0 KiB
Protocol Buffer
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// 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/pose_graph_options.proto";
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package cartographer.mapping.proto;
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message MapBuilderOptions {
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bool use_trajectory_builder_2d = 1;
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bool use_trajectory_builder_3d = 2;
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// Number of threads to use for background computations.
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int32 num_background_threads = 3;
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PoseGraphOptions pose_graph_options = 4;
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// Sort sensor input independently for each trajectory.
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bool collate_by_trajectory = 5;
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}
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