74 lines
2.6 KiB
Protocol Buffer
Executable File
74 lines
2.6 KiB
Protocol Buffer
Executable File
// 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 = "proto3";
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package cartographer.mapping.optimization.proto;
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import "cartographer/common/proto/ceres_solver_options.proto";
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// NEXT ID: 26
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message OptimizationProblemOptions {
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reserved 20 to 22; // For visual constraints.
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// Scaling parameter for Huber loss function.
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double huber_scale = 1;
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// Scaling parameter for the IMU acceleration term.
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double acceleration_weight = 8;
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// Scaling parameter for the IMU rotation term.
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double rotation_weight = 9;
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// Scaling parameter for translation between consecutive nodes based on the
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// local SLAM pose.
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double local_slam_pose_translation_weight = 14;
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// Scaling parameter for rotation between consecutive nodes based on the
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// local SLAM pose.
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double local_slam_pose_rotation_weight = 15;
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// Scaling parameter for translation between consecutive nodes based on the
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// odometry.
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double odometry_translation_weight = 16;
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// Scaling parameter for rotation between consecutive nodes based on the
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// odometry.
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double odometry_rotation_weight = 17;
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// Scaling parameter for the FixedFramePose translation. Unit: 1/meters.
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double fixed_frame_pose_translation_weight = 11;
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// Scaling parameter for the FixedFramePose rotation.
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double fixed_frame_pose_rotation_weight = 12;
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bool fixed_frame_pose_use_tolerant_loss = 23;
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// The following parameters are used only if fixed_frame_pose_use_tolerant_loss is true.
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// See http://ceres-solver.org/nnls_modeling.html.
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// For large values of s, the tolerant loss function approaches a null loss
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// with fixed_frame_pose_translation_weight.
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double fixed_frame_pose_tolerant_loss_param_a = 24;
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double fixed_frame_pose_tolerant_loss_param_b = 25;
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// 3D only: fix Z.
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bool fix_z_in_3d = 13;
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// 3D only: activate online IMU extrinsics.
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bool use_online_imu_extrinsics_in_3d = 18;
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// If true, the Ceres solver summary will be logged for every optimization.
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bool log_solver_summary = 5;
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common.proto.CeresSolverOptions ceres_solver_options = 7;
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}
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