35 lines
1.2 KiB
Protocol Buffer
35 lines
1.2 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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package cartographer.mapping.proto;
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message RangeDataInserterOptions3D {
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// Probability change for a hit (this will be converted to odds and therefore
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// must be greater than 0.5).
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double hit_probability = 1;
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// Probability change for a miss (this will be converted to odds and therefore
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// must be less than 0.5).
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double miss_probability = 2;
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// Up to how many free space voxels are updated for scan matching.
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// 0 disables free space.
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int32 num_free_space_voxels = 3;
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// Do not insert intensities above this threshold into IntensityHybridGrid.
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float intensity_threshold = 4;
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}
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