/
serialization.proto
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/
serialization.proto
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// Copyright 2016 The Cartographer Authors
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
syntax = "proto3";
package cartographer.mapping.proto;
import "cartographer/mapping/proto/pose_graph.proto";
import "cartographer/mapping/proto/submap.proto";
import "cartographer/mapping/proto/trajectory_node_data.proto";
import "cartographer/sensor/proto/sensor.proto";
import "cartographer/mapping/proto/trajectory_builder_options.proto";
import "cartographer/transform/proto/transform.proto";
message Submap {
SubmapId submap_id = 1;
Submap2D submap_2d = 2;
Submap3D submap_3d = 3;
}
message Node {
NodeId node_id = 1;
TrajectoryNodeData node_data = 5;
}
message ImuData {
int32 trajectory_id = 1;
sensor.proto.ImuData imu_data = 2;
}
message OdometryData {
int32 trajectory_id = 1;
sensor.proto.OdometryData odometry_data = 2;
}
message FixedFramePoseData {
int32 trajectory_id = 1;
sensor.proto.FixedFramePoseData fixed_frame_pose_data = 2;
}
message LandmarkData {
int32 trajectory_id = 1;
sensor.proto.LandmarkData landmark_data = 2;
}
message TrajectoryData {
int32 trajectory_id = 1;
double gravity_constant = 2;
transform.proto.Quaterniond imu_calibration = 3;
transform.proto.Rigid3d fixed_frame_origin_in_map = 4;
}
message LocalSlamResultData {
int64 timestamp = 1;
TrajectoryNodeData node_data = 2;
repeated Submap submaps = 3;
}
// Header of the serialization format. At the moment it only contains the
// version of the format.
message SerializationHeader {
uint32 format_version = 1;
}
message SerializedData {
oneof data {
PoseGraph pose_graph = 1;
AllTrajectoryBuilderOptions all_trajectory_builder_options = 2;
Submap submap = 3;
Node node = 4;
TrajectoryData trajectory_data = 5;
ImuData imu_data = 6;
OdometryData odometry_data = 7;
FixedFramePoseData fixed_frame_pose_data = 8;
LandmarkData landmark_data = 9;
}
}