package cartographer.pose_graph.proto

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Used in: CostFunction

• optional NodeId first = 1

• optional NodeId second = 2

• optional NodeId third = 3

• optional NodeId imu_calibration = 4

• optional Acceleration3D.Parameters parameters = 5

Used in: Acceleration3D

• optional transform.proto.Vector3d delta_velocity_imu_frame = 1

• double first_to_second_delta_time_seconds = 2

• double second_to_third_delta_time_seconds = 3

• double scaling_factor = 4

Used in: PoseGraphData

• string id = 1

• optional CostFunction cost_function = 2

• optional LossFunction loss_function = 3

Used in: Constraint

• oneof type

  • RelativePose2D relative_pose_2d = 1

  • RelativePose3D relative_pose_3d = 2

  • Acceleration3D acceleration_3d = 3

  • Rotation3D rotation_3d = 4

  • InterpolatedRelativePose2D interpolated_relative_pose_2d = 5

  • InterpolatedRelativePose3D interpolated_relative_pose_3d = 6

Used in: LossFunction

• double scale = 1

Used in: Parameters

• double gravity_constant = 1

• optional transform.proto.Quaterniond orientation = 2

• Parameterization orientation_parameterization = 3

Used in: CostFunction

• optional NodeId first_start = 1

• optional NodeId first_end = 2

• optional NodeId second = 3

• optional InterpolatedRelativePose2D.Parameters parameters = 4

Used in: InterpolatedRelativePose2D

• optional transform.proto.Rigid3d first_t_second = 1

• double translation_weight = 2

• double rotation_weight = 3

• optional transform.proto.Quaterniond gravity_alignment_first_start = 4

• optional transform.proto.Quaterniond gravity_alignment_first_end = 5

• double interpolation_factor = 6

  Interpolates between first_start and first_end.

Used in: CostFunction

• optional NodeId first_start = 1

• optional NodeId first_end = 2

• optional NodeId second = 3

• optional InterpolatedRelativePose3D.Parameters parameters = 4

Used in: InterpolatedRelativePose3D

• optional transform.proto.Rigid3d first_t_second = 1

• double translation_weight = 2

• double rotation_weight = 3

• double interpolation_factor = 4

  Interpolates between first_start and first_end.

Used in: Constraint

• oneof Type

  • QuadraticLoss quadratic_loss = 1

  • HuberLoss huber_loss = 2

Used in: PoseGraphData

• optional NodeId id = 1

• bool constant = 2

• optional Parameters parameters = 3

Used in: Acceleration3D, InterpolatedRelativePose2D, InterpolatedRelativePose3D, Node, RelativePose2D, RelativePose3D, Rotation3D

• string object_id = 1

• string group_id = 2

• int64 timestamp = 3

Used in: ImuCalibration, Pose3D

• NONE = 0

• FIX_Z = 1

• YAW_ONLY = 2

• YAW_CONSTANT = 3

Used in: Node

• oneof type

  • Pose2D pose_2d = 1

  • Pose3D pose_3d = 2

  • ImuCalibration imu_calibration = 3

Used in: Parameters

• optional transform.proto.Vector2d translation = 1

• double rotation = 2

Used in: Parameters

• optional transform.proto.Vector3d translation = 1

• optional transform.proto.Quaterniond rotation = 2

• Parameterization translation_parameterization = 3

• Parameterization rotation_parameterization = 4

• repeated Node nodes = 1

• repeated Constraint constraints = 2

Used in: LossFunction

(message has no fields)

Used in: CostFunction

• optional NodeId first = 1

• optional NodeId second = 2

• optional RelativePose2D.Parameters parameters = 3

Used in: RelativePose2D

• optional transform.proto.Rigid2d first_t_second = 1

• double translation_weight = 2

• double rotation_weight = 3

Used in: CostFunction

• optional NodeId first = 1

• optional NodeId second = 2

• optional RelativePose3D.Parameters parameters = 3

Used in: RelativePose3D

• optional transform.proto.Rigid3d first_t_second = 1

• double translation_weight = 2

• double rotation_weight = 3

Used in: CostFunction

• optional NodeId first = 1

• optional NodeId second = 2

• optional NodeId imu_calibration = 3

• optional Rotation3D.Parameters parameters = 4

Used in: Rotation3D

• optional transform.proto.Quaterniond delta_rotation_imu_frame = 1

• double scaling_factor = 2

Configuration for the non-linear least squares solver.

• bool log_solver_summary = 1

  If true, logs a summary of the optimization in every iteration.

• optional common.proto.CeresSolverOptions ceres_options = 2

  Options specific for the Ceres solver.