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[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
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1 changed files with 45 additions and 6 deletions
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51
cartographer/pose_graph/proto/cost_function.proto
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@ -49,10 +49,13 @@ message Acceleration3D {
NodeId third = 3;
NodeId imu_calibration = 4;
transform.proto.Vector3d delta_velocity_imu_frame = 5;
int64 first_to_second_time_delta = 6;
int64 second_to_third_time_delta = 7;
double scaling_factor = 8;
message Parameters {
transform.proto.Vector3d delta_velocity_imu_frame = 1;
int64 first_to_second_time_delta = 2;
int64 second_to_third_time_delta = 3;
double scaling_factor = 4;
}
Parameters parameters = 5;
}
message Rotation3D {
@ -61,9 +64,43 @@ message Rotation3D {
NodeId imu_calibration = 3;
message Parameters {
transform.proto.Quaterniond delta_rotation_imu_frame = 4;
double scaling_factor = 5;
transform.proto.Quaterniond delta_rotation_imu_frame = 1;
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 {
@ -72,5 +109,7 @@ message CostFunction {
RelativePose3D relative_pose_3d = 2;
Acceleration3D acceleration_3d = 3;
Rotation3D rotation_3d = 4;
RelativePose2DInterpolated relative_pose_2d_interpolated = 5;
RelativePose3DInterpolated relative_pose_3d_interpolated = 6;
}
}