74 lines
2.1 KiB
Protocol Buffer
74 lines
2.1 KiB
Protocol Buffer
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// 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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import "cartographer/transform/proto/transform.proto";
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package cartographer.mapping.proto;
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message SubmapList {
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message SubmapEntry {
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int32 submap_version = 1;
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transform.proto.Rigid3d pose = 3;
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}
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message TrajectorySubmapList {
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repeated SubmapEntry submap = 1;
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}
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repeated TrajectorySubmapList trajectory = 2;
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}
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message SubmapQuery {
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message Request {
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// Index into 'SubmapList.trajectory(trajectory_id).submap'.
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int32 submap_index = 1;
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// Index into 'TrajectoryList.trajectory'.
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int32 trajectory_id = 2;
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}
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message Response {
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// Version of the given submap, higher means newer.
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int32 submap_version = 2;
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// Texture that visualizes a grid of a submap.
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message SubmapTexture {
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// GZipped map data, in row-major order, starting with (0,0). Each cell
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// consists of two bytes: value (premultiplied by alpha) and alpha.
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bytes cells = 1;
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// Dimensions of the grid in cells.
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int32 width = 2;
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int32 height = 3;
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// Size of one cell in meters.
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double resolution = 4;
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// Pose of the resolution*width x resolution*height rectangle in the
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// submap frame.
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transform.proto.Rigid3d slice_pose = 5;
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}
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// When multiple textures are present, high resolution comes first.
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repeated SubmapTexture textures = 10;
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// Error message in response to malformed requests.
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string error_message = 8;
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}
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Request request = 1;
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Response response = 2;
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}
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