12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

[GenericPoseGraph] Add proto defs for landmark cost functions. (#1312)

master
Alexander Belyaev 2018-07-22 13:36:25 +02:00 committed by GitHub
parent 3a9d1bc465
commit 681cff0435
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 45 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

51
cartographer/pose_graph/proto/cost_function.proto
View File

@ -49,10 +49,13 @@ message Acceleration3D {
NodeId third = 3; NodeId third = 3;
NodeId imu_calibration = 4; NodeId imu_calibration = 4;
transform.proto.Vector3d delta_velocity_imu_frame = 5; message Parameters {
int64 first_to_second_time_delta = 6; transform.proto.Vector3d delta_velocity_imu_frame = 1;
int64 second_to_third_time_delta = 7; int64 first_to_second_time_delta = 2;
double scaling_factor = 8; int64 second_to_third_time_delta = 3;
double scaling_factor = 4;
}
Parameters parameters = 5;
} }
message Rotation3D { message Rotation3D {
@ -61,9 +64,43 @@ message Rotation3D {
NodeId imu_calibration = 3; NodeId imu_calibration = 3;
message Parameters { message Parameters {
transform.proto.Quaterniond delta_rotation_imu_frame = 4; transform.proto.Quaterniond delta_rotation_imu_frame = 1;
double scaling_factor = 5; double scaling_factor = 2;
} }
Parameters parameters = 4;
}
message InterpolatedNode {
NodeId start = 1;
NodeId end = 2;
double factor = 3;
}
message RelativePose2DInterpolated {
InterpolatedNode first = 1;
NodeId second = 2;
message Parameters {
transform.proto.Rigid3d first_t_second = 1;
double translation_weight = 2;
double rotation_weight = 3;
}
Parameters parameters = 3;
}
message RelativePose3DInterpolated {
InterpolatedNode first = 1;
NodeId second = 2;
message Parameters {
transform.proto.Rigid3d first_t_second = 1;
double translation_weight = 2;
double rotation_weight = 3;
transform.proto.Quaterniond gravity_alignment_start = 4;
transform.proto.Quaterniond gravity_alignment_end = 5;
}
Parameters parameters = 3;
} }
message CostFunction { message CostFunction {
@ -72,5 +109,7 @@ message CostFunction {
RelativePose3D relative_pose_3d = 2; RelativePose3D relative_pose_3d = 2;
Acceleration3D acceleration_3d = 3; Acceleration3D acceleration_3d = 3;
Rotation3D rotation_3d = 4; Rotation3D rotation_3d = 4;
RelativePose2DInterpolated relative_pose_2d_interpolated = 5;
RelativePose3DInterpolated relative_pose_3d_interpolated = 6;
} }
} }