nav_msgs/OccupancyGrid source_map
## Parameters
# acceptance_ratio (float 0-1, default 0.5) : allows the algorithm to outright reject matches where less than N% of
# the occupied points in the map match an occupied point in the reference map
# higher is stricter (at 1, all points must match) and faster. A good default value is 0.5.
float32 acceptance_ratio
# rotation_downsampling (float, default 1) : multiplies the default angular resolution,
# increasing this value leads to less accurate results but faster execution.
# should be 1 or larger than 1.
int32 rotation_downsampling
# hits_sample_threshold (int, default 0) : if a value n other than 0, n occupied points in the
# source map will be sampled randomly to reduce computation. should be 0 or a positive integer.
int32 hits_sample_threshold
## Prior (advanced)
# Giving a prior is not necessary, but it can speed up the algorithm by constraining
# the possible positions and rotations it considers
bool is_theta_prior # optional, default false
bool is_window_prior # optional, default false
# only used if is_window_prior is true
int32 window_prior_offset_i
int32 window_prior_offset_j
int32 window_prior_size_i
int32 window_prior_size_j
# only used if is_theta_prior is true
float32 theta_prior_angle # must be given in [0, 2pi[ range!
float32 theta_prior_angle_window_half_size # [0, 2pi[ in radians.
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bool found_valid_match
int32 i_source_origin_in_reference
int32 j_source_origin_in_reference
float32 theta
float32 score
float32 dtheta # theta resolution used in the search
int32 max_score # maximum possible score for the requested match