41 lines
1.4 KiB
Protocol Buffer
41 lines
1.4 KiB
Protocol Buffer
// 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 = "proto2";
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package cartographer.mapping.sparse_pose_graph.proto;
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import "cartographer/common/proto/ceres_solver_options.proto";
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// NEXT ID: 11
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message OptimizationProblemOptions {
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// Scaling parameter for Huber loss function.
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optional double huber_scale = 1;
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// Scaling parameter for the IMU acceleration term.
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optional double acceleration_weight = 8;
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// Scaling parameter for the IMU rotation term.
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optional double rotation_weight = 9;
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// Penalty factors for changes to the relative pose between consecutive scans.
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optional double consecutive_scan_translation_penalty_factor = 2;
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optional double consecutive_scan_rotation_penalty_factor = 3;
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// If true, the Ceres solver summary will be logged for every optimization.
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optional bool log_solver_summary = 5;
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optional common.proto.CeresSolverOptions ceres_solver_options = 7;
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}
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