89 lines
2.4 KiB
Protocol Buffer
Executable File
89 lines
2.4 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.proto;
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import "cartographer/mapping/proto/pose_graph.proto";
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import "cartographer/mapping/proto/submap.proto";
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import "cartographer/mapping/proto/trajectory_node_data.proto";
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import "cartographer/sensor/proto/sensor.proto";
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import "cartographer/mapping/proto/trajectory_builder_options.proto";
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import "cartographer/transform/proto/transform.proto";
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message Submap {
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SubmapId submap_id = 1;
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Submap2D submap_2d = 2;
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Submap3D submap_3d = 3;
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}
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message Node {
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NodeId node_id = 1;
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TrajectoryNodeData node_data = 5;
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}
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message ImuData {
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int32 trajectory_id = 1;
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sensor.proto.ImuData imu_data = 2;
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}
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message OdometryData {
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int32 trajectory_id = 1;
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sensor.proto.OdometryData odometry_data = 2;
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}
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message FixedFramePoseData {
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int32 trajectory_id = 1;
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sensor.proto.FixedFramePoseData fixed_frame_pose_data = 2;
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}
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message LandmarkData {
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int32 trajectory_id = 1;
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sensor.proto.LandmarkData landmark_data = 2;
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}
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message TrajectoryData {
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int32 trajectory_id = 1;
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double gravity_constant = 2;
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transform.proto.Quaterniond imu_calibration = 3;
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transform.proto.Rigid3d fixed_frame_origin_in_map = 4;
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}
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message LocalSlamResultData {
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int64 timestamp = 1;
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TrajectoryNodeData node_data = 2;
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repeated Submap submaps = 3;
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}
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// Header of the serialization format. At the moment it only contains the
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// version of the format.
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message SerializationHeader {
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uint32 format_version = 1;
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}
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message SerializedData {
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oneof data {
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PoseGraph pose_graph = 1;
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AllTrajectoryBuilderOptions all_trajectory_builder_options = 2;
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Submap submap = 3;
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Node node = 4;
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TrajectoryData trajectory_data = 5;
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ImuData imu_data = 6;
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OdometryData odometry_data = 7;
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FixedFramePoseData fixed_frame_pose_data = 8;
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LandmarkData landmark_data = 9;
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}
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}
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