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Minor sparse_pose_graph.proto improvement (#226)

master
Mac Mason 2017-03-24 01:03:36 -07:00 committed by Damon Kohler
parent 4fa190d316
commit 1e5b49ce62
1 changed files with 3 additions and 2 deletions
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cartographer/mapping/proto/sparse_pose_graph.proto
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@ -44,8 +44,9 @@ message SparsePoseGraph {
// Pose of the scan relative to submap, i.e. taking data from the scan frame // Pose of the scan relative to submap, i.e. taking data from the scan frame
// into the submap frame. // into the submap frame.
optional transform.proto.Rigid3d relative_pose = 3; optional transform.proto.Rigid3d relative_pose = 3;
// 6x6 square root inverse of the covariance matrix. // 6x6 square root inverse of the covariance matrix. This is stored in
repeated double sqrt_Lambda = 4; // NOLINT // column-major order for ease of use with Eigen::Map.
repeated double sqrt_Lambda = 4 [packed = true]; // NOLINT
optional Tag tag = 5; optional Tag tag = 5;
} }