From 1e5b49ce626526068ed1378762f2df84111165e4 Mon Sep 17 00:00:00 2001 From: Mac Mason Date: Fri, 24 Mar 2017 01:03:36 -0700 Subject: [PATCH] Minor sparse_pose_graph.proto improvement (#226) --- cartographer/mapping/proto/sparse_pose_graph.proto | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/cartographer/mapping/proto/sparse_pose_graph.proto b/cartographer/mapping/proto/sparse_pose_graph.proto index 13ce381..edde43e 100644 --- a/cartographer/mapping/proto/sparse_pose_graph.proto +++ b/cartographer/mapping/proto/sparse_pose_graph.proto @@ -44,8 +44,9 @@ message SparsePoseGraph { // Pose of the scan relative to submap, i.e. taking data from the scan frame // into the submap frame. optional transform.proto.Rigid3d relative_pose = 3; - // 6x6 square root inverse of the covariance matrix. - repeated double sqrt_Lambda = 4; // NOLINT + // 6x6 square root inverse of the covariance matrix. This is stored in + // column-major order for ease of use with Eigen::Map. + repeated double sqrt_Lambda = 4 [packed = true]; // NOLINT optional Tag tag = 5; }