diff --git a/ILoopCorrector_grpcProxy.cpp b/ILoopCorrector_grpcProxy.cpp index d4eaacd..2eb6c99 100644 --- a/ILoopCorrector_grpcProxy.cpp +++ b/ILoopCorrector_grpcProxy.cpp @@ -75,7 +75,7 @@ SolAR::FrameworkReturnCode ILoopCorrector_grpcProxy::correct(SRef const queryKeyframe, SRef const detectedLoopKeyframe, SolAR::datastructure::Transform3Df const& S_wl_wc, std::vector> const& duplicatedPointsIndices, std::vector& correctedKeyframeIds) +SolAR::FrameworkReturnCode ILoopCorrector_grpcProxy::correct(SRef const queryKeyframe, SRef const detectedLoopKeyframe, SolAR::datastructure::Transform3Df const& S_wl_wc, std::vector> const& duplicatedPointsIndices, std::vector& correctedKeyframeIds, std::vector& correctedCloudpointIds) { ::grpc::ClientContext context; ::grpcILoopCorrector::correct_grpc1Request reqIn; @@ -90,6 +90,7 @@ SolAR::FrameworkReturnCode ILoopCorrector_grpcProxy::correct(SRef(S_wl_wc)); reqIn.set_duplicatedpointsindices(xpcf::serialize>>(duplicatedPointsIndices)); reqIn.set_correctedkeyframeids(xpcf::serialize>(correctedKeyframeIds)); + reqIn.set_correctedcloudpointids(xpcf::serialize>(correctedCloudpointIds)); #ifdef ENABLE_PROXY_TIMERS boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time(); std::cout << "====> ILoopCorrector_grpcProxy::correct request sent at " << to_simple_string(start) << std::endl; @@ -106,6 +107,7 @@ SolAR::FrameworkReturnCode ILoopCorrector_grpcProxy::correct(SRef>(respOut.correctedkeyframeids()); + correctedCloudpointIds = xpcf::deserialize>(respOut.correctedcloudpointids()); return static_cast(respOut.xpcfgrpcreturnvalue()); } diff --git a/ILoopCorrector_grpcProxy.h b/ILoopCorrector_grpcProxy.h index 2d8d64f..d65d760 100644 --- a/ILoopCorrector_grpcProxy.h +++ b/ILoopCorrector_grpcProxy.h @@ -23,7 +23,7 @@ class ILoopCorrector_grpcProxy: public org::bcom::xpcf::ConfigurableBase, virtu org::bcom::xpcf::XPCFErrorCode onConfigured() override; SolAR::FrameworkReturnCode correct(SRef const queryKeyframe, SRef const detectedLoopKeyframe, SolAR::datastructure::Transform3Df const& S_wl_wc, std::vector> const& duplicatedPointsIndices) override; - SolAR::FrameworkReturnCode correct(SRef const queryKeyframe, SRef const detectedLoopKeyframe, SolAR::datastructure::Transform3Df const& S_wl_wc, std::vector> const& duplicatedPointsIndices, std::vector& correctedKeyframeIds) override; + SolAR::FrameworkReturnCode correct(SRef const queryKeyframe, SRef const detectedLoopKeyframe, SolAR::datastructure::Transform3Df const& S_wl_wc, std::vector> const& duplicatedPointsIndices, std::vector& correctedKeyframeIds, std::vector& correctedCloudpointIds) override; private: diff --git a/ILoopCorrector_grpcServer.cpp b/ILoopCorrector_grpcServer.cpp index ca50aeb..a52c867 100644 --- a/ILoopCorrector_grpcServer.cpp +++ b/ILoopCorrector_grpcServer.cpp @@ -82,8 +82,10 @@ ::grpc::Status ILoopCorrector_grpcServer::grpcILoopCorrectorServiceImpl::correct SolAR::datastructure::Transform3Df S_wl_wc = xpcf::deserialize(request->s_wl_wc()); std::vector> duplicatedPointsIndices = xpcf::deserialize>>(request->duplicatedpointsindices()); std::vector correctedKeyframeIds = xpcf::deserialize>(request->correctedkeyframeids()); - SolAR::FrameworkReturnCode returnValue = m_xpcfComponent->correct(queryKeyframe, detectedLoopKeyframe, S_wl_wc, duplicatedPointsIndices, correctedKeyframeIds); + std::vector correctedCloudpointIds = xpcf::deserialize>(request->correctedcloudpointids()); + SolAR::FrameworkReturnCode returnValue = m_xpcfComponent->correct(queryKeyframe, detectedLoopKeyframe, S_wl_wc, duplicatedPointsIndices, correctedKeyframeIds, correctedCloudpointIds); response->set_correctedkeyframeids(xpcf::serialize>(correctedKeyframeIds)); + response->set_correctedcloudpointids(xpcf::serialize>(correctedCloudpointIds)); response->set_xpcfgrpcreturnvalue(static_cast(returnValue)); #ifdef ENABLE_SERVER_TIMERS boost::posix_time::ptime end = boost::posix_time::microsec_clock::universal_time(); diff --git a/grpcILoopCorrectorService.pb.cc b/grpcILoopCorrectorService.pb.cc index fd9619b..7cfe61a 100644 --- a/grpcILoopCorrectorService.pb.cc +++ b/grpcILoopCorrectorService.pb.cc @@ -58,6 +58,7 @@ PROTOBUF_CONSTEXPR correct_grpc1Request::correct_grpc1Request( , /*decltype(_impl_.s_wl_wc_)*/{&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}} , /*decltype(_impl_.duplicatedpointsindices_)*/{&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}} , /*decltype(_impl_.correctedkeyframeids_)*/{&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}} + , /*decltype(_impl_.correctedcloudpointids_)*/{&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}} , /*decltype(_impl_.grpcservercompressionformat_)*/0 , /*decltype(_impl_._cached_size_)*/{}} {} struct correct_grpc1RequestDefaultTypeInternal { @@ -72,6 +73,7 @@ PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORIT PROTOBUF_CONSTEXPR correct_grpc1Response::correct_grpc1Response( ::_pbi::ConstantInitialized): _impl_{ /*decltype(_impl_.correctedkeyframeids_)*/{&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}} + , /*decltype(_impl_.correctedcloudpointids_)*/{&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}} , /*decltype(_impl_.xpcfgrpcreturnvalue_)*/0 , /*decltype(_impl_._cached_size_)*/{}} {} struct correct_grpc1ResponseDefaultTypeInternal { @@ -119,6 +121,7 @@ const uint32_t TableStruct_grpcILoopCorrectorService_2eproto::offsets[] PROTOBUF PROTOBUF_FIELD_OFFSET(::grpcILoopCorrector::correct_grpc1Request, _impl_.s_wl_wc_), PROTOBUF_FIELD_OFFSET(::grpcILoopCorrector::correct_grpc1Request, _impl_.duplicatedpointsindices_), PROTOBUF_FIELD_OFFSET(::grpcILoopCorrector::correct_grpc1Request, _impl_.correctedkeyframeids_), + PROTOBUF_FIELD_OFFSET(::grpcILoopCorrector::correct_grpc1Request, _impl_.correctedcloudpointids_), ~0u, // no _has_bits_ PROTOBUF_FIELD_OFFSET(::grpcILoopCorrector::correct_grpc1Response, _internal_metadata_), ~0u, // no _extensions_ @@ -126,13 +129,14 @@ const uint32_t TableStruct_grpcILoopCorrectorService_2eproto::offsets[] PROTOBUF ~0u, // no _weak_field_map_ ~0u, // no _inlined_string_donated_ PROTOBUF_FIELD_OFFSET(::grpcILoopCorrector::correct_grpc1Response, _impl_.correctedkeyframeids_), + PROTOBUF_FIELD_OFFSET(::grpcILoopCorrector::correct_grpc1Response, _impl_.correctedcloudpointids_), PROTOBUF_FIELD_OFFSET(::grpcILoopCorrector::correct_grpc1Response, _impl_.xpcfgrpcreturnvalue_), }; static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = { { 0, -1, -1, sizeof(::grpcILoopCorrector::correct_grpc0Request)}, { 11, -1, -1, sizeof(::grpcILoopCorrector::correct_grpc0Response)}, { 18, -1, -1, sizeof(::grpcILoopCorrector::correct_grpc1Request)}, - { 30, -1, -1, sizeof(::grpcILoopCorrector::correct_grpc1Response)}, + { 31, -1, -1, sizeof(::grpcILoopCorrector::correct_grpc1Response)}, }; static const ::_pb::Message* const file_default_instances[] = { @@ -150,27 +154,29 @@ const char descriptor_table_protodef_grpcILoopCorrectorService_2eproto[] PROTOBU "e\030\002 \001(\014\022\034\n\024detectedLoopKeyframe\030\003 \001(\014\022\017\n" "\007S_wl_wc\030\004 \001(\014\022\037\n\027duplicatedPointsIndice" "s\030\005 \001(\014\"4\n\025correct_grpc0Response\022\033\n\023xpcf" - "GrpcReturnValue\030\001 \001(\021\"\300\001\n\024correct_grpc1R" + "GrpcReturnValue\030\001 \001(\021\"\340\001\n\024correct_grpc1R" "equest\022#\n\033grpcServerCompressionFormat\030\001 " "\001(\005\022\025\n\rqueryKeyframe\030\002 \001(\014\022\034\n\024detectedLo" "opKeyframe\030\003 \001(\014\022\017\n\007S_wl_wc\030\004 \001(\014\022\037\n\027dup" "licatedPointsIndices\030\005 \001(\014\022\034\n\024correctedK" - "eyframeIds\030\006 \001(\014\"R\n\025correct_grpc1Respons" - "e\022\034\n\024correctedKeyframeIds\030\001 \001(\014\022\033\n\023xpcfG" - "rpcReturnValue\030\002 \001(\0212\353\001\n\031grpcILoopCorrec" - "torService\022f\n\rcorrect_grpc0\022(.grpcILoopC" - "orrector.correct_grpc0Request\032).grpcILoo" - "pCorrector.correct_grpc0Response\"\000\022f\n\rco" - "rrect_grpc1\022(.grpcILoopCorrector.correct" - "_grpc1Request\032).grpcILoopCorrector.corre" - "ct_grpc1Response\"\000b\006proto3" + "eyframeIds\030\006 \001(\014\022\036\n\026correctedCloudpointI" + "ds\030\007 \001(\014\"r\n\025correct_grpc1Response\022\034\n\024cor" + "rectedKeyframeIds\030\001 \001(\014\022\036\n\026correctedClou" + "dpointIds\030\002 \001(\014\022\033\n\023xpcfGrpcReturnValue\030\003" + " \001(\0212\353\001\n\031grpcILoopCorrectorService\022f\n\rco" + "rrect_grpc0\022(.grpcILoopCorrector.correct" + "_grpc0Request\032).grpcILoopCorrector.corre" + "ct_grpc0Response\"\000\022f\n\rcorrect_grpc1\022(.gr" + "pcILoopCorrector.correct_grpc1Request\032)." + "grpcILoopCorrector.correct_grpc1Response" + "\"\000b\006proto3" ; static const ::_pbi::DescriptorTable* const descriptor_table_grpcILoopCorrectorService_2eproto_deps[1] = { &::descriptor_table_google_2fprotobuf_2fempty_2eproto, }; static ::_pbi::once_flag descriptor_table_grpcILoopCorrectorService_2eproto_once; const ::_pbi::DescriptorTable descriptor_table_grpcILoopCorrectorService_2eproto = { - false, false, 826, descriptor_table_protodef_grpcILoopCorrectorService_2eproto, + false, false, 890, descriptor_table_protodef_grpcILoopCorrectorService_2eproto, "grpcILoopCorrectorService.proto", &descriptor_table_grpcILoopCorrectorService_2eproto_once, descriptor_table_grpcILoopCorrectorService_2eproto_deps, 1, 4, schemas, file_default_instances, TableStruct_grpcILoopCorrectorService_2eproto::offsets, @@ -744,6 +750,7 @@ correct_grpc1Request::correct_grpc1Request(const correct_grpc1Request& from) , decltype(_impl_.s_wl_wc_){} , decltype(_impl_.duplicatedpointsindices_){} , decltype(_impl_.correctedkeyframeids_){} + , decltype(_impl_.correctedcloudpointids_){} , decltype(_impl_.grpcservercompressionformat_){} , /*decltype(_impl_._cached_size_)*/{}}; @@ -788,6 +795,14 @@ correct_grpc1Request::correct_grpc1Request(const correct_grpc1Request& from) _this->_impl_.correctedkeyframeids_.Set(from._internal_correctedkeyframeids(), _this->GetArenaForAllocation()); } + _impl_.correctedcloudpointids_.InitDefault(); + #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING + _impl_.correctedcloudpointids_.Set("", GetArenaForAllocation()); + #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING + if (!from._internal_correctedcloudpointids().empty()) { + _this->_impl_.correctedcloudpointids_.Set(from._internal_correctedcloudpointids(), + _this->GetArenaForAllocation()); + } _this->_impl_.grpcservercompressionformat_ = from._impl_.grpcservercompressionformat_; // @@protoc_insertion_point(copy_constructor:grpcILoopCorrector.correct_grpc1Request) } @@ -802,6 +817,7 @@ inline void correct_grpc1Request::SharedCtor( , decltype(_impl_.s_wl_wc_){} , decltype(_impl_.duplicatedpointsindices_){} , decltype(_impl_.correctedkeyframeids_){} + , decltype(_impl_.correctedcloudpointids_){} , decltype(_impl_.grpcservercompressionformat_){0} , /*decltype(_impl_._cached_size_)*/{} }; @@ -825,6 +841,10 @@ inline void correct_grpc1Request::SharedCtor( #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING _impl_.correctedkeyframeids_.Set("", GetArenaForAllocation()); #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING + _impl_.correctedcloudpointids_.InitDefault(); + #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING + _impl_.correctedcloudpointids_.Set("", GetArenaForAllocation()); + #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING } correct_grpc1Request::~correct_grpc1Request() { @@ -843,6 +863,7 @@ inline void correct_grpc1Request::SharedDtor() { _impl_.s_wl_wc_.Destroy(); _impl_.duplicatedpointsindices_.Destroy(); _impl_.correctedkeyframeids_.Destroy(); + _impl_.correctedcloudpointids_.Destroy(); } void correct_grpc1Request::SetCachedSize(int size) const { @@ -860,6 +881,7 @@ void correct_grpc1Request::Clear() { _impl_.s_wl_wc_.ClearToEmpty(); _impl_.duplicatedpointsindices_.ClearToEmpty(); _impl_.correctedkeyframeids_.ClearToEmpty(); + _impl_.correctedcloudpointids_.ClearToEmpty(); _impl_.grpcservercompressionformat_ = 0; _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(); } @@ -923,6 +945,15 @@ const char* correct_grpc1Request::_InternalParse(const char* ptr, ::_pbi::ParseC } else goto handle_unusual; continue; + // bytes correctedCloudpointIds = 7; + case 7: + if (PROTOBUF_PREDICT_TRUE(static_cast(tag) == 58)) { + auto str = _internal_mutable_correctedcloudpointids(); + ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx); + CHK_(ptr); + } else + goto handle_unusual; + continue; default: goto handle_unusual; } // switch @@ -988,6 +1019,12 @@ uint8_t* correct_grpc1Request::_InternalSerialize( 6, this->_internal_correctedkeyframeids(), target); } + // bytes correctedCloudpointIds = 7; + if (!this->_internal_correctedcloudpointids().empty()) { + target = stream->WriteBytesMaybeAliased( + 7, this->_internal_correctedcloudpointids(), target); + } + if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) { target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray( _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream); @@ -1039,6 +1076,13 @@ size_t correct_grpc1Request::ByteSizeLong() const { this->_internal_correctedkeyframeids()); } + // bytes correctedCloudpointIds = 7; + if (!this->_internal_correctedcloudpointids().empty()) { + total_size += 1 + + ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::BytesSize( + this->_internal_correctedcloudpointids()); + } + // int32 grpcServerCompressionFormat = 1; if (this->_internal_grpcservercompressionformat() != 0) { total_size += ::_pbi::WireFormatLite::Int32SizePlusOne(this->_internal_grpcservercompressionformat()); @@ -1077,6 +1121,9 @@ void correct_grpc1Request::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message& to_msg, c if (!from._internal_correctedkeyframeids().empty()) { _this->_internal_set_correctedkeyframeids(from._internal_correctedkeyframeids()); } + if (!from._internal_correctedcloudpointids().empty()) { + _this->_internal_set_correctedcloudpointids(from._internal_correctedcloudpointids()); + } if (from._internal_grpcservercompressionformat() != 0) { _this->_internal_set_grpcservercompressionformat(from._internal_grpcservercompressionformat()); } @@ -1119,6 +1166,10 @@ void correct_grpc1Request::InternalSwap(correct_grpc1Request* other) { &_impl_.correctedkeyframeids_, lhs_arena, &other->_impl_.correctedkeyframeids_, rhs_arena ); + ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap( + &_impl_.correctedcloudpointids_, lhs_arena, + &other->_impl_.correctedcloudpointids_, rhs_arena + ); swap(_impl_.grpcservercompressionformat_, other->_impl_.grpcservercompressionformat_); } @@ -1145,6 +1196,7 @@ correct_grpc1Response::correct_grpc1Response(const correct_grpc1Response& from) correct_grpc1Response* const _this = this; (void)_this; new (&_impl_) Impl_{ decltype(_impl_.correctedkeyframeids_){} + , decltype(_impl_.correctedcloudpointids_){} , decltype(_impl_.xpcfgrpcreturnvalue_){} , /*decltype(_impl_._cached_size_)*/{}}; @@ -1157,6 +1209,14 @@ correct_grpc1Response::correct_grpc1Response(const correct_grpc1Response& from) _this->_impl_.correctedkeyframeids_.Set(from._internal_correctedkeyframeids(), _this->GetArenaForAllocation()); } + _impl_.correctedcloudpointids_.InitDefault(); + #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING + _impl_.correctedcloudpointids_.Set("", GetArenaForAllocation()); + #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING + if (!from._internal_correctedcloudpointids().empty()) { + _this->_impl_.correctedcloudpointids_.Set(from._internal_correctedcloudpointids(), + _this->GetArenaForAllocation()); + } _this->_impl_.xpcfgrpcreturnvalue_ = from._impl_.xpcfgrpcreturnvalue_; // @@protoc_insertion_point(copy_constructor:grpcILoopCorrector.correct_grpc1Response) } @@ -1167,6 +1227,7 @@ inline void correct_grpc1Response::SharedCtor( (void)is_message_owned; new (&_impl_) Impl_{ decltype(_impl_.correctedkeyframeids_){} + , decltype(_impl_.correctedcloudpointids_){} , decltype(_impl_.xpcfgrpcreturnvalue_){0} , /*decltype(_impl_._cached_size_)*/{} }; @@ -1174,6 +1235,10 @@ inline void correct_grpc1Response::SharedCtor( #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING _impl_.correctedkeyframeids_.Set("", GetArenaForAllocation()); #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING + _impl_.correctedcloudpointids_.InitDefault(); + #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING + _impl_.correctedcloudpointids_.Set("", GetArenaForAllocation()); + #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING } correct_grpc1Response::~correct_grpc1Response() { @@ -1188,6 +1253,7 @@ correct_grpc1Response::~correct_grpc1Response() { inline void correct_grpc1Response::SharedDtor() { GOOGLE_DCHECK(GetArenaForAllocation() == nullptr); _impl_.correctedkeyframeids_.Destroy(); + _impl_.correctedcloudpointids_.Destroy(); } void correct_grpc1Response::SetCachedSize(int size) const { @@ -1201,6 +1267,7 @@ void correct_grpc1Response::Clear() { (void) cached_has_bits; _impl_.correctedkeyframeids_.ClearToEmpty(); + _impl_.correctedcloudpointids_.ClearToEmpty(); _impl_.xpcfgrpcreturnvalue_ = 0; _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(); } @@ -1220,9 +1287,18 @@ const char* correct_grpc1Response::_InternalParse(const char* ptr, ::_pbi::Parse } else goto handle_unusual; continue; - // sint32 xpcfGrpcReturnValue = 2; + // bytes correctedCloudpointIds = 2; case 2: - if (PROTOBUF_PREDICT_TRUE(static_cast(tag) == 16)) { + if (PROTOBUF_PREDICT_TRUE(static_cast(tag) == 18)) { + auto str = _internal_mutable_correctedcloudpointids(); + ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx); + CHK_(ptr); + } else + goto handle_unusual; + continue; + // sint32 xpcfGrpcReturnValue = 3; + case 3: + if (PROTOBUF_PREDICT_TRUE(static_cast(tag) == 24)) { _impl_.xpcfgrpcreturnvalue_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarintZigZag32(&ptr); CHK_(ptr); } else @@ -1263,10 +1339,16 @@ uint8_t* correct_grpc1Response::_InternalSerialize( 1, this->_internal_correctedkeyframeids(), target); } - // sint32 xpcfGrpcReturnValue = 2; + // bytes correctedCloudpointIds = 2; + if (!this->_internal_correctedcloudpointids().empty()) { + target = stream->WriteBytesMaybeAliased( + 2, this->_internal_correctedcloudpointids(), target); + } + + // sint32 xpcfGrpcReturnValue = 3; if (this->_internal_xpcfgrpcreturnvalue() != 0) { target = stream->EnsureSpace(target); - target = ::_pbi::WireFormatLite::WriteSInt32ToArray(2, this->_internal_xpcfgrpcreturnvalue(), target); + target = ::_pbi::WireFormatLite::WriteSInt32ToArray(3, this->_internal_xpcfgrpcreturnvalue(), target); } if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) { @@ -1292,7 +1374,14 @@ size_t correct_grpc1Response::ByteSizeLong() const { this->_internal_correctedkeyframeids()); } - // sint32 xpcfGrpcReturnValue = 2; + // bytes correctedCloudpointIds = 2; + if (!this->_internal_correctedcloudpointids().empty()) { + total_size += 1 + + ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::BytesSize( + this->_internal_correctedcloudpointids()); + } + + // sint32 xpcfGrpcReturnValue = 3; if (this->_internal_xpcfgrpcreturnvalue() != 0) { total_size += ::_pbi::WireFormatLite::SInt32SizePlusOne(this->_internal_xpcfgrpcreturnvalue()); } @@ -1318,6 +1407,9 @@ void correct_grpc1Response::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message& to_msg, if (!from._internal_correctedkeyframeids().empty()) { _this->_internal_set_correctedkeyframeids(from._internal_correctedkeyframeids()); } + if (!from._internal_correctedcloudpointids().empty()) { + _this->_internal_set_correctedcloudpointids(from._internal_correctedcloudpointids()); + } if (from._internal_xpcfgrpcreturnvalue() != 0) { _this->_internal_set_xpcfgrpcreturnvalue(from._internal_xpcfgrpcreturnvalue()); } @@ -1344,6 +1436,10 @@ void correct_grpc1Response::InternalSwap(correct_grpc1Response* other) { &_impl_.correctedkeyframeids_, lhs_arena, &other->_impl_.correctedkeyframeids_, rhs_arena ); + ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap( + &_impl_.correctedcloudpointids_, lhs_arena, + &other->_impl_.correctedcloudpointids_, rhs_arena + ); swap(_impl_.xpcfgrpcreturnvalue_, other->_impl_.xpcfgrpcreturnvalue_); } diff --git a/grpcILoopCorrectorService.pb.h b/grpcILoopCorrectorService.pb.h index 80e65fb..ad017b3 100644 --- a/grpcILoopCorrectorService.pb.h +++ b/grpcILoopCorrectorService.pb.h @@ -555,6 +555,7 @@ class correct_grpc1Request final : kSWlWcFieldNumber = 4, kDuplicatedPointsIndicesFieldNumber = 5, kCorrectedKeyframeIdsFieldNumber = 6, + kCorrectedCloudpointIdsFieldNumber = 7, kGrpcServerCompressionFormatFieldNumber = 1, }; // bytes queryKeyframe = 2; @@ -627,6 +628,20 @@ class correct_grpc1Request final : std::string* _internal_mutable_correctedkeyframeids(); public: + // bytes correctedCloudpointIds = 7; + void clear_correctedcloudpointids(); + const std::string& correctedcloudpointids() const; + template + void set_correctedcloudpointids(ArgT0&& arg0, ArgT... args); + std::string* mutable_correctedcloudpointids(); + PROTOBUF_NODISCARD std::string* release_correctedcloudpointids(); + void set_allocated_correctedcloudpointids(std::string* correctedcloudpointids); + private: + const std::string& _internal_correctedcloudpointids() const; + inline PROTOBUF_ALWAYS_INLINE void _internal_set_correctedcloudpointids(const std::string& value); + std::string* _internal_mutable_correctedcloudpointids(); + public: + // int32 grpcServerCompressionFormat = 1; void clear_grpcservercompressionformat(); int32_t grpcservercompressionformat() const; @@ -649,6 +664,7 @@ class correct_grpc1Request final : ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr s_wl_wc_; ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr duplicatedpointsindices_; ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr correctedkeyframeids_; + ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr correctedcloudpointids_; int32_t grpcservercompressionformat_; mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_; }; @@ -779,7 +795,8 @@ class correct_grpc1Response final : enum : int { kCorrectedKeyframeIdsFieldNumber = 1, - kXpcfGrpcReturnValueFieldNumber = 2, + kCorrectedCloudpointIdsFieldNumber = 2, + kXpcfGrpcReturnValueFieldNumber = 3, }; // bytes correctedKeyframeIds = 1; void clear_correctedkeyframeids(); @@ -795,7 +812,21 @@ class correct_grpc1Response final : std::string* _internal_mutable_correctedkeyframeids(); public: - // sint32 xpcfGrpcReturnValue = 2; + // bytes correctedCloudpointIds = 2; + void clear_correctedcloudpointids(); + const std::string& correctedcloudpointids() const; + template + void set_correctedcloudpointids(ArgT0&& arg0, ArgT... args); + std::string* mutable_correctedcloudpointids(); + PROTOBUF_NODISCARD std::string* release_correctedcloudpointids(); + void set_allocated_correctedcloudpointids(std::string* correctedcloudpointids); + private: + const std::string& _internal_correctedcloudpointids() const; + inline PROTOBUF_ALWAYS_INLINE void _internal_set_correctedcloudpointids(const std::string& value); + std::string* _internal_mutable_correctedcloudpointids(); + public: + + // sint32 xpcfGrpcReturnValue = 3; void clear_xpcfgrpcreturnvalue(); int32_t xpcfgrpcreturnvalue() const; void set_xpcfgrpcreturnvalue(int32_t value); @@ -813,6 +844,7 @@ class correct_grpc1Response final : typedef void DestructorSkippable_; struct Impl_ { ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr correctedkeyframeids_; + ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr correctedcloudpointids_; int32_t xpcfgrpcreturnvalue_; mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_; }; @@ -1348,6 +1380,56 @@ inline void correct_grpc1Request::set_allocated_correctedkeyframeids(std::string // @@protoc_insertion_point(field_set_allocated:grpcILoopCorrector.correct_grpc1Request.correctedKeyframeIds) } +// bytes correctedCloudpointIds = 7; +inline void correct_grpc1Request::clear_correctedcloudpointids() { + _impl_.correctedcloudpointids_.ClearToEmpty(); +} +inline const std::string& correct_grpc1Request::correctedcloudpointids() const { + // @@protoc_insertion_point(field_get:grpcILoopCorrector.correct_grpc1Request.correctedCloudpointIds) + return _internal_correctedcloudpointids(); +} +template +inline PROTOBUF_ALWAYS_INLINE +void correct_grpc1Request::set_correctedcloudpointids(ArgT0&& arg0, ArgT... args) { + + _impl_.correctedcloudpointids_.SetBytes(static_cast(arg0), args..., GetArenaForAllocation()); + // @@protoc_insertion_point(field_set:grpcILoopCorrector.correct_grpc1Request.correctedCloudpointIds) +} +inline std::string* correct_grpc1Request::mutable_correctedcloudpointids() { + std::string* _s = _internal_mutable_correctedcloudpointids(); + // @@protoc_insertion_point(field_mutable:grpcILoopCorrector.correct_grpc1Request.correctedCloudpointIds) + return _s; +} +inline const std::string& correct_grpc1Request::_internal_correctedcloudpointids() const { + return _impl_.correctedcloudpointids_.Get(); +} +inline void correct_grpc1Request::_internal_set_correctedcloudpointids(const std::string& value) { + + _impl_.correctedcloudpointids_.Set(value, GetArenaForAllocation()); +} +inline std::string* correct_grpc1Request::_internal_mutable_correctedcloudpointids() { + + return _impl_.correctedcloudpointids_.Mutable(GetArenaForAllocation()); +} +inline std::string* correct_grpc1Request::release_correctedcloudpointids() { + // @@protoc_insertion_point(field_release:grpcILoopCorrector.correct_grpc1Request.correctedCloudpointIds) + return _impl_.correctedcloudpointids_.Release(); +} +inline void correct_grpc1Request::set_allocated_correctedcloudpointids(std::string* correctedcloudpointids) { + if (correctedcloudpointids != nullptr) { + + } else { + + } + _impl_.correctedcloudpointids_.SetAllocated(correctedcloudpointids, GetArenaForAllocation()); +#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING + if (_impl_.correctedcloudpointids_.IsDefault()) { + _impl_.correctedcloudpointids_.Set("", GetArenaForAllocation()); + } +#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING + // @@protoc_insertion_point(field_set_allocated:grpcILoopCorrector.correct_grpc1Request.correctedCloudpointIds) +} + // ------------------------------------------------------------------- // correct_grpc1Response @@ -1402,7 +1484,57 @@ inline void correct_grpc1Response::set_allocated_correctedkeyframeids(std::strin // @@protoc_insertion_point(field_set_allocated:grpcILoopCorrector.correct_grpc1Response.correctedKeyframeIds) } -// sint32 xpcfGrpcReturnValue = 2; +// bytes correctedCloudpointIds = 2; +inline void correct_grpc1Response::clear_correctedcloudpointids() { + _impl_.correctedcloudpointids_.ClearToEmpty(); +} +inline const std::string& correct_grpc1Response::correctedcloudpointids() const { + // @@protoc_insertion_point(field_get:grpcILoopCorrector.correct_grpc1Response.correctedCloudpointIds) + return _internal_correctedcloudpointids(); +} +template +inline PROTOBUF_ALWAYS_INLINE +void correct_grpc1Response::set_correctedcloudpointids(ArgT0&& arg0, ArgT... args) { + + _impl_.correctedcloudpointids_.SetBytes(static_cast(arg0), args..., GetArenaForAllocation()); + // @@protoc_insertion_point(field_set:grpcILoopCorrector.correct_grpc1Response.correctedCloudpointIds) +} +inline std::string* correct_grpc1Response::mutable_correctedcloudpointids() { + std::string* _s = _internal_mutable_correctedcloudpointids(); + // @@protoc_insertion_point(field_mutable:grpcILoopCorrector.correct_grpc1Response.correctedCloudpointIds) + return _s; +} +inline const std::string& correct_grpc1Response::_internal_correctedcloudpointids() const { + return _impl_.correctedcloudpointids_.Get(); +} +inline void correct_grpc1Response::_internal_set_correctedcloudpointids(const std::string& value) { + + _impl_.correctedcloudpointids_.Set(value, GetArenaForAllocation()); +} +inline std::string* correct_grpc1Response::_internal_mutable_correctedcloudpointids() { + + return _impl_.correctedcloudpointids_.Mutable(GetArenaForAllocation()); +} +inline std::string* correct_grpc1Response::release_correctedcloudpointids() { + // @@protoc_insertion_point(field_release:grpcILoopCorrector.correct_grpc1Response.correctedCloudpointIds) + return _impl_.correctedcloudpointids_.Release(); +} +inline void correct_grpc1Response::set_allocated_correctedcloudpointids(std::string* correctedcloudpointids) { + if (correctedcloudpointids != nullptr) { + + } else { + + } + _impl_.correctedcloudpointids_.SetAllocated(correctedcloudpointids, GetArenaForAllocation()); +#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING + if (_impl_.correctedcloudpointids_.IsDefault()) { + _impl_.correctedcloudpointids_.Set("", GetArenaForAllocation()); + } +#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING + // @@protoc_insertion_point(field_set_allocated:grpcILoopCorrector.correct_grpc1Response.correctedCloudpointIds) +} + +// sint32 xpcfGrpcReturnValue = 3; inline void correct_grpc1Response::clear_xpcfgrpcreturnvalue() { _impl_.xpcfgrpcreturnvalue_ = 0; } diff --git a/grpcILoopCorrectorService.proto b/grpcILoopCorrectorService.proto index 7b2c9bb..1c1fa78 100644 --- a/grpcILoopCorrectorService.proto +++ b/grpcILoopCorrectorService.proto @@ -26,12 +26,14 @@ bytes detectedLoopKeyframe = 3; bytes S_wl_wc = 4; bytes duplicatedPointsIndices = 5; bytes correctedKeyframeIds = 6; +bytes correctedCloudpointIds = 7; } message correct_grpc1Response { bytes correctedKeyframeIds = 1; -sint32 xpcfGrpcReturnValue = 2; +bytes correctedCloudpointIds = 2; +sint32 xpcfGrpcReturnValue = 3; } service grpcILoopCorrectorService {