Convert all .proto files to proto3 syntax. (#653)
[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md)master
Christoph Schütte
Wally B. Feed
parent
ed71914805
commit
53471359f8
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@ -12,14 +12,14 @@
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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 = "proto2";
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syntax = "proto3";
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package cartographer.common.proto;
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message CeresSolverOptions {
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// Configure the Ceres solver. See the Ceres documentation for more
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// information: https://code.google.com/p/ceres-solver/
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optional bool use_nonmonotonic_steps = 1;
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optional int32 max_num_iterations = 2;
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optional int32 num_threads = 3;
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bool use_nonmonotonic_steps = 1;
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int32 max_num_iterations = 2;
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int32 num_threads = 3;
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}
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@ -12,19 +12,19 @@
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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 = "proto2";
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syntax = "proto3";
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package cartographer.ground_truth.proto;
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import "cartographer/transform/proto/transform.proto";
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message Relation {
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optional int64 timestamp1 = 1;
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optional int64 timestamp2 = 2;
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int64 timestamp1 = 1;
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int64 timestamp2 = 2;
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// The 'expected' relative transform of the tracking frame from 'timestamp2'
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// to 'timestamp1'.
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optional transform.proto.Rigid3d expected = 3;
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transform.proto.Rigid3d expected = 3;
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}
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message GroundTruth {
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@ -12,7 +12,7 @@
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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 = "proto2";
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syntax = "proto3";
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package cartographer.mapping.proto;
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@ -12,17 +12,17 @@
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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 = "proto2";
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syntax = "proto3";
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import "cartographer/mapping/proto/sparse_pose_graph_options.proto";
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package cartographer.mapping.proto;
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message MapBuilderOptions {
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optional bool use_trajectory_builder_2d = 1;
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optional bool use_trajectory_builder_3d = 2;
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bool use_trajectory_builder_2d = 1;
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bool use_trajectory_builder_3d = 2;
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// Number of threads to use for background computations.
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optional int32 num_background_threads = 3;
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optional SparsePoseGraphOptions sparse_pose_graph_options = 4;
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int32 num_background_threads = 3;
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SparsePoseGraphOptions sparse_pose_graph_options = 4;
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}
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@ -12,7 +12,7 @@
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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 = "proto2";
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syntax = "proto3";
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package cartographer.mapping.proto;
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@ -22,24 +22,24 @@ import "cartographer/mapping/proto/trajectory_node_data.proto";
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import "cartographer/sensor/proto/sensor.proto";
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message Submap {
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optional SubmapId submap_id = 1;
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optional Submap2D submap_2d = 2;
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optional Submap3D submap_3d = 3;
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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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optional NodeId node_id = 1;
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optional TrajectoryNodeData node_data = 5;
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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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optional int32 trajectory_id = 1;
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optional sensor.proto.ImuData imu_data = 2;
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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 SerializedData {
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optional Submap submap = 1;
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optional Node node = 2;
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optional ImuData imu_data = 3;
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Submap submap = 1;
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Node node = 2;
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ImuData imu_data = 3;
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// TODO(whess): Add odometry.
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}
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@ -12,7 +12,7 @@
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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 = "proto2";
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syntax = "proto3";
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package cartographer.mapping.proto;
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@ -20,13 +20,13 @@ import "cartographer/mapping/proto/trajectory.proto";
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import "cartographer/transform/proto/transform.proto";
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message SubmapId {
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optional int32 trajectory_id = 1;
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optional int32 submap_index = 2; // Submap index in the given trajectory.
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int32 trajectory_id = 1;
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int32 submap_index = 2; // Submap index in the given trajectory.
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}
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message NodeId {
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optional int32 trajectory_id = 1;
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optional int32 node_index = 2; // Node index in the given trajectory.
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int32 trajectory_id = 1;
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int32 node_index = 2; // Node index in the given trajectory.
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}
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message SparsePoseGraph {
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@ -39,16 +39,16 @@ message SparsePoseGraph {
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INTER_SUBMAP = 1;
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}
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optional SubmapId submap_id = 1; // Submap ID.
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optional NodeId node_id = 2; // Node ID.
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SubmapId submap_id = 1; // Submap ID.
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NodeId node_id = 2; // Node ID.
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// Pose of the node relative to submap, i.e. taking data from the node frame
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// into the submap frame.
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optional transform.proto.Rigid3d relative_pose = 3;
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transform.proto.Rigid3d relative_pose = 3;
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// Weight of the translational part of the constraint.
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optional double translation_weight = 6;
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double translation_weight = 6;
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// Weight of the rotational part of the constraint.
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optional double rotation_weight = 7;
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optional Tag tag = 5;
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double rotation_weight = 7;
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Tag tag = 5;
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}
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repeated Constraint constraint = 2;
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@ -12,7 +12,7 @@
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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 = "proto2";
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syntax = "proto3";
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package cartographer.mapping.proto;
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@ -22,37 +22,37 @@ import "cartographer/mapping/sparse_pose_graph/proto/optimization_problem_option
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message SparsePoseGraphOptions {
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// Online loop closure: If positive, will run the loop closure while the map
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// is built.
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optional int32 optimize_every_n_scans = 1;
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int32 optimize_every_n_scans = 1;
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// Options for the constraint builder.
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optional mapping.sparse_pose_graph.proto.ConstraintBuilderOptions
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mapping.sparse_pose_graph.proto.ConstraintBuilderOptions
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constraint_builder_options = 3;
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// Weight used in the optimization problem for the translational component of
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// non-loop-closure scan matcher constraints.
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optional double matcher_translation_weight = 7;
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double matcher_translation_weight = 7;
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// Weight used in the optimization problem for the rotational component of
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// non-loop-closure scan matcher constraints.
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optional double matcher_rotation_weight = 8;
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double matcher_rotation_weight = 8;
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// Options for the optimization problem.
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optional mapping.sparse_pose_graph.proto.OptimizationProblemOptions
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mapping.sparse_pose_graph.proto.OptimizationProblemOptions
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optimization_problem_options = 4;
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// Number of iterations to use in 'optimization_problem_options' for the final
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// optimization.
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optional int32 max_num_final_iterations = 6;
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int32 max_num_final_iterations = 6;
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// Rate at which we sample a single trajectory's scans for global
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// localization.
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optional double global_sampling_ratio = 5;
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double global_sampling_ratio = 5;
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// Whether to output histograms for the pose residuals.
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optional bool log_residual_histograms = 9;
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bool log_residual_histograms = 9;
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// If for the duration specified by this option no global contraint has been
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// added between two trajectories, loop closure searches will be performed
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// globally rather than in a smaller search window.
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optional double global_constraint_search_after_n_seconds = 10;
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double global_constraint_search_after_n_seconds = 10;
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}
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@ -12,7 +12,7 @@
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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 = "proto2";
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syntax = "proto3";
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package cartographer.mapping.proto;
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@ -22,17 +22,17 @@ import "cartographer/transform/proto/transform.proto";
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// Serialized state of a mapping_2d::Submap.
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message Submap2D {
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optional transform.proto.Rigid3d local_pose = 1;
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optional int32 num_range_data = 2;
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optional bool finished = 3;
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optional mapping_2d.proto.ProbabilityGrid probability_grid = 4;
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transform.proto.Rigid3d local_pose = 1;
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int32 num_range_data = 2;
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bool finished = 3;
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mapping_2d.proto.ProbabilityGrid probability_grid = 4;
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}
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// Serialized state of a mapping_3d::Submap.
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message Submap3D {
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optional transform.proto.Rigid3d local_pose = 1;
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optional int32 num_range_data = 2;
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optional bool finished = 3;
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optional mapping_3d.proto.HybridGrid high_resolution_hybrid_grid = 4;
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optional mapping_3d.proto.HybridGrid low_resolution_hybrid_grid = 5;
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transform.proto.Rigid3d local_pose = 1;
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int32 num_range_data = 2;
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bool finished = 3;
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mapping_3d.proto.HybridGrid high_resolution_hybrid_grid = 4;
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mapping_3d.proto.HybridGrid low_resolution_hybrid_grid = 5;
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}
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@ -12,7 +12,7 @@
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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 = "proto2";
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syntax = "proto3";
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import "cartographer/transform/proto/transform.proto";
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@ -20,8 +20,8 @@ package cartographer.mapping.proto;
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message SubmapList {
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message SubmapEntry {
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optional int32 submap_version = 1;
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optional transform.proto.Rigid3d pose = 3;
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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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@ -34,40 +34,40 @@ message SubmapList {
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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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optional int32 submap_index = 1;
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int32 submap_index = 1;
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// Index into 'TrajectoryList.trajectory'.
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optional int32 trajectory_id = 2;
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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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optional int32 submap_version = 2;
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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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optional bytes cells = 1;
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bytes cells = 1;
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// Dimensions of the grid in cells.
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optional int32 width = 2;
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optional int32 height = 3;
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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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optional double resolution = 4;
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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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optional transform.proto.Rigid3d slice_pose = 5;
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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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optional string error_message = 8;
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string error_message = 8;
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}
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optional Request request = 1;
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optional Response response = 2;
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Request request = 1;
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Response response = 2;
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}
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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 = "proto2";
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syntax = "proto3";
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package cartographer.mapping.proto;
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@ -24,24 +24,24 @@ message Trajectory {
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// NEXT_ID: 8
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message Node {
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// Index of this node within its trajectory.
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optional int32 node_index = 7;
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int32 node_index = 7;
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optional int64 timestamp = 1;
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int64 timestamp = 1;
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// Transform from tracking to global map frame.
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optional transform.proto.Rigid3d pose = 5;
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transform.proto.Rigid3d pose = 5;
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}
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message Submap {
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// Index of this submap within its trajectory.
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optional int32 submap_index = 2;
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int32 submap_index = 2;
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// Transform from submap to global map frame.
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optional transform.proto.Rigid3d pose = 1;
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transform.proto.Rigid3d pose = 1;
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}
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// ID of this trajectory.
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optional int32 trajectory_id = 3;
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int32 trajectory_id = 3;
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// Time-ordered sequence of Nodes.
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repeated Node node = 1;
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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 = "proto2";
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syntax = "proto3";
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import "cartographer/transform/proto/transform.proto";
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import "cartographer/mapping_2d/proto/local_trajectory_builder_options.proto";
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@ -21,16 +21,16 @@ import "cartographer/mapping_3d/proto/local_trajectory_builder_options.proto";
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package cartographer.mapping.proto;
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message InitialTrajectoryPose {
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optional transform.proto.Rigid3d relative_pose = 1;
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optional int32 to_trajectory_id = 2;
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optional int64 timestamp = 3;
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transform.proto.Rigid3d relative_pose = 1;
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int32 to_trajectory_id = 2;
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int64 timestamp = 3;
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}
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message TrajectoryBuilderOptions {
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optional mapping_2d.proto.LocalTrajectoryBuilderOptions
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mapping_2d.proto.LocalTrajectoryBuilderOptions
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trajectory_builder_2d_options = 1;
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optional mapping_3d.proto.LocalTrajectoryBuilderOptions
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mapping_3d.proto.LocalTrajectoryBuilderOptions
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trajectory_builder_3d_options = 2;
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optional bool pure_localization = 3;
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optional InitialTrajectoryPose initial_trajectory_pose = 4;
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bool pure_localization = 3;
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InitialTrajectoryPose initial_trajectory_pose = 4;
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}
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@ -12,7 +12,7 @@
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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 = "proto2";
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syntax = "proto3";
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package cartographer.mapping.proto;
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// Serialized state of a mapping::TrajectoryNode::Data.
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message TrajectoryNodeData {
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optional int64 timestamp = 1;
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optional transform.proto.Quaterniond gravity_alignment = 2;
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optional sensor.proto.CompressedPointCloud
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int64 timestamp = 1;
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transform.proto.Quaterniond gravity_alignment = 2;
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sensor.proto.CompressedPointCloud
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filtered_gravity_aligned_point_cloud = 3;
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optional sensor.proto.CompressedPointCloud high_resolution_point_cloud = 4;
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optional sensor.proto.CompressedPointCloud low_resolution_point_cloud = 5;
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sensor.proto.CompressedPointCloud high_resolution_point_cloud = 4;
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sensor.proto.CompressedPointCloud low_resolution_point_cloud = 5;
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repeated float rotational_scan_matcher_histogram = 6;
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optional transform.proto.Rigid3d local_pose = 7;
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transform.proto.Rigid3d local_pose = 7;
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}
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@ -42,6 +42,8 @@ SparsePoseGraph::Constraint::Tag FromProto(
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return SparsePoseGraph::Constraint::Tag::INTRA_SUBMAP;
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case proto::SparsePoseGraph::Constraint::INTER_SUBMAP:
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return SparsePoseGraph::Constraint::Tag::INTER_SUBMAP;
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case ::google::protobuf::kint32max:
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case ::google::protobuf::kint32min:;
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}
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LOG(FATAL) << "Unsupported tag.";
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}
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@ -12,7 +12,7 @@
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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 = "proto2";
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syntax = "proto3";
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package cartographer.mapping.sparse_pose_graph.proto;
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@ -24,37 +24,37 @@ import "cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matche
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message ConstraintBuilderOptions {
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// A constraint will be added if the proportion of added constraints to
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// potential constraints drops below this number.
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optional double sampling_ratio = 1;
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double sampling_ratio = 1;
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// Threshold for poses to be considered near a submap.
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optional double max_constraint_distance = 2;
|
||||
double max_constraint_distance = 2;
|
||||
|
||||
// Threshold for the scan match score below which a match is not considered.
|
||||
// Low scores indicate that the scan and map do not look similar.
|
||||
optional double min_score = 4;
|
||||
double min_score = 4;
|
||||
|
||||
// Threshold below which global localizations are not trusted.
|
||||
optional double global_localization_min_score = 5;
|
||||
double global_localization_min_score = 5;
|
||||
|
||||
// Weight used in the optimization problem for the translational component of
|
||||
// loop closure constraints.
|
||||
optional double loop_closure_translation_weight = 13;
|
||||
double loop_closure_translation_weight = 13;
|
||||
|
||||
// Weight used in the optimization problem for the rotational component of
|
||||
// loop closure constraints.
|
||||
optional double loop_closure_rotation_weight = 14;
|
||||
double loop_closure_rotation_weight = 14;
|
||||
|
||||
// If enabled, logs information of loop-closing constraints for debugging.
|
||||
optional bool log_matches = 8;
|
||||
bool log_matches = 8;
|
||||
|
||||
// Options for the internally used scan matchers.
|
||||
optional mapping_2d.scan_matching.proto.FastCorrelativeScanMatcherOptions
|
||||
mapping_2d.scan_matching.proto.FastCorrelativeScanMatcherOptions
|
||||
fast_correlative_scan_matcher_options = 9;
|
||||
optional mapping_2d.scan_matching.proto.CeresScanMatcherOptions
|
||||
mapping_2d.scan_matching.proto.CeresScanMatcherOptions
|
||||
ceres_scan_matcher_options = 11;
|
||||
optional mapping_3d.scan_matching.proto.FastCorrelativeScanMatcherOptions
|
||||
mapping_3d.scan_matching.proto.FastCorrelativeScanMatcherOptions
|
||||
fast_correlative_scan_matcher_options_3d = 10;
|
||||
|
||||
optional mapping_3d.scan_matching.proto.CeresScanMatcherOptions
|
||||
mapping_3d.scan_matching.proto.CeresScanMatcherOptions
|
||||
ceres_scan_matcher_options_3d = 12;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping.sparse_pose_graph.proto;
|
||||
|
||||
|
|
@ -21,28 +21,28 @@ import "cartographer/common/proto/ceres_solver_options.proto";
|
|||
// NEXT ID: 13
|
||||
message OptimizationProblemOptions {
|
||||
// Scaling parameter for Huber loss function.
|
||||
optional double huber_scale = 1;
|
||||
double huber_scale = 1;
|
||||
|
||||
// Scaling parameter for the IMU acceleration term.
|
||||
optional double acceleration_weight = 8;
|
||||
double acceleration_weight = 8;
|
||||
|
||||
// Scaling parameter for the IMU rotation term.
|
||||
optional double rotation_weight = 9;
|
||||
double rotation_weight = 9;
|
||||
|
||||
// Penalty factors for translation changes to the relative pose between consecutive scans.
|
||||
optional double consecutive_scan_translation_penalty_factor = 2;
|
||||
double consecutive_scan_translation_penalty_factor = 2;
|
||||
|
||||
// Penalty factors for rotation changes to the relative pose between consecutive scans.
|
||||
optional double consecutive_scan_rotation_penalty_factor = 3;
|
||||
double consecutive_scan_rotation_penalty_factor = 3;
|
||||
|
||||
// Scaling parameter for the FixedFramePose translation.
|
||||
optional double fixed_frame_pose_translation_weight = 11;
|
||||
double fixed_frame_pose_translation_weight = 11;
|
||||
|
||||
// Scaling parameter for the FixedFramePose rotation.
|
||||
optional double fixed_frame_pose_rotation_weight = 12;
|
||||
double fixed_frame_pose_rotation_weight = 12;
|
||||
|
||||
// If true, the Ceres solver summary will be logged for every optimization.
|
||||
optional bool log_solver_summary = 5;
|
||||
bool log_solver_summary = 5;
|
||||
|
||||
optional common.proto.CeresSolverOptions ceres_solver_options = 7;
|
||||
common.proto.CeresSolverOptions ceres_solver_options = 7;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,11 +12,11 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_2d.proto;
|
||||
|
||||
message CellLimits {
|
||||
optional int32 num_x_cells = 1;
|
||||
optional int32 num_y_cells = 2;
|
||||
int32 num_x_cells = 1;
|
||||
int32 num_y_cells = 2;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_2d.proto;
|
||||
|
||||
|
|
@ -24,39 +24,39 @@ import "cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_m
|
|||
|
||||
message LocalTrajectoryBuilderOptions {
|
||||
// Rangefinder points outside these ranges will be dropped.
|
||||
optional float min_range = 14;
|
||||
optional float max_range = 15;
|
||||
optional float min_z = 1;
|
||||
optional float max_z = 2;
|
||||
float min_range = 14;
|
||||
float max_range = 15;
|
||||
float min_z = 1;
|
||||
float max_z = 2;
|
||||
|
||||
// Points beyond 'max_range' will be inserted with this length as empty space.
|
||||
optional float missing_data_ray_length = 16;
|
||||
float missing_data_ray_length = 16;
|
||||
|
||||
// Number of scans to accumulate into one unwarped, combined scan to use for
|
||||
// scan matching.
|
||||
optional int32 scans_per_accumulation = 19;
|
||||
int32 scans_per_accumulation = 19;
|
||||
|
||||
// Voxel filter that gets applied to the range data immediately after
|
||||
// cropping.
|
||||
optional float voxel_filter_size = 3;
|
||||
float voxel_filter_size = 3;
|
||||
|
||||
// Voxel filter used to compute a sparser point cloud for matching.
|
||||
optional sensor.proto.AdaptiveVoxelFilterOptions
|
||||
sensor.proto.AdaptiveVoxelFilterOptions
|
||||
adaptive_voxel_filter_options = 6;
|
||||
|
||||
// Voxel filter used to compute a sparser point cloud for finding loop
|
||||
// closures.
|
||||
optional sensor.proto.AdaptiveVoxelFilterOptions
|
||||
sensor.proto.AdaptiveVoxelFilterOptions
|
||||
loop_closure_adaptive_voxel_filter_options = 20;
|
||||
|
||||
// Whether to solve the online scan matching first using the correlative scan
|
||||
// matcher to generate a good starting point for Ceres.
|
||||
optional bool use_online_correlative_scan_matching = 5;
|
||||
optional scan_matching.proto.RealTimeCorrelativeScanMatcherOptions
|
||||
bool use_online_correlative_scan_matching = 5;
|
||||
scan_matching.proto.RealTimeCorrelativeScanMatcherOptions
|
||||
real_time_correlative_scan_matcher_options = 7;
|
||||
optional scan_matching.proto.CeresScanMatcherOptions
|
||||
scan_matching.proto.CeresScanMatcherOptions
|
||||
ceres_scan_matcher_options = 8;
|
||||
optional mapping_3d.proto.MotionFilterOptions motion_filter_options = 13;
|
||||
mapping_3d.proto.MotionFilterOptions motion_filter_options = 13;
|
||||
|
||||
// Time constant in seconds for the orientation moving average based on
|
||||
// observed gravity via the IMU. It should be chosen so that the error
|
||||
|
|
@ -64,10 +64,10 @@ message LocalTrajectoryBuilderOptions {
|
|||
// the constant is reduced) and
|
||||
// 2. from integration of angular velocities (which gets worse when the
|
||||
// constant is increased) is balanced.
|
||||
optional double imu_gravity_time_constant = 17;
|
||||
double imu_gravity_time_constant = 17;
|
||||
|
||||
optional mapping_2d.proto.SubmapsOptions submaps_options = 11;
|
||||
mapping_2d.proto.SubmapsOptions submaps_options = 11;
|
||||
|
||||
// True if IMU data should be expected and used.
|
||||
optional bool use_imu_data = 12;
|
||||
bool use_imu_data = 12;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
import "cartographer/mapping_2d/proto/cell_limits.proto";
|
||||
import "cartographer/transform/proto/transform.proto";
|
||||
|
|
@ -20,7 +20,7 @@ import "cartographer/transform/proto/transform.proto";
|
|||
package cartographer.mapping_2d.proto;
|
||||
|
||||
message MapLimits {
|
||||
optional double resolution = 1;
|
||||
optional cartographer.transform.proto.Vector2d max = 2;
|
||||
optional CellLimits cell_limits = 3;
|
||||
double resolution = 1;
|
||||
cartographer.transform.proto.Vector2d max = 2;
|
||||
CellLimits cell_limits = 3;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
import "cartographer/mapping_2d/proto/map_limits.proto";
|
||||
|
||||
|
|
@ -20,15 +20,15 @@ package cartographer.mapping_2d.proto;
|
|||
|
||||
message ProbabilityGrid {
|
||||
message CellBox {
|
||||
optional int32 max_x = 1;
|
||||
optional int32 max_y = 2;
|
||||
optional int32 min_x = 3;
|
||||
optional int32 min_y = 4;
|
||||
int32 max_x = 1;
|
||||
int32 max_y = 2;
|
||||
int32 min_x = 3;
|
||||
int32 min_y = 4;
|
||||
}
|
||||
|
||||
optional MapLimits limits = 1;
|
||||
MapLimits limits = 1;
|
||||
// These values are actually int16s, but protos don't have a native int16
|
||||
// type.
|
||||
repeated int32 cells = 2;
|
||||
optional CellBox known_cells_box = 8;
|
||||
CellBox known_cells_box = 8;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,20 +12,20 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_2d.proto;
|
||||
|
||||
message RangeDataInserterOptions {
|
||||
// Probability change for a hit (this will be converted to odds and therefore
|
||||
// must be greater than 0.5).
|
||||
optional double hit_probability = 1;
|
||||
double hit_probability = 1;
|
||||
|
||||
// Probability change for a miss (this will be converted to odds and therefore
|
||||
// must be less than 0.5).
|
||||
optional double miss_probability = 2;
|
||||
double miss_probability = 2;
|
||||
|
||||
// If 'false', free space will not change the probabilities in the occupancy
|
||||
// grid.
|
||||
optional bool insert_free_space = 3;
|
||||
bool insert_free_space = 3;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
import "cartographer/mapping_2d/proto/range_data_inserter_options.proto";
|
||||
|
||||
|
|
@ -20,12 +20,12 @@ package cartographer.mapping_2d.proto;
|
|||
|
||||
message SubmapsOptions {
|
||||
// Resolution of the map in meters.
|
||||
optional double resolution = 1;
|
||||
double resolution = 1;
|
||||
|
||||
// Number of scans before adding a new submap. Each submap will get twice the
|
||||
// number of scans inserted: First for initialization without being matched
|
||||
// against, then while being matched.
|
||||
optional int32 num_range_data = 3;
|
||||
int32 num_range_data = 3;
|
||||
|
||||
optional RangeDataInserterOptions range_data_inserter_options = 5;
|
||||
RangeDataInserterOptions range_data_inserter_options = 5;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_2d.scan_matching.proto;
|
||||
|
||||
|
|
@ -21,11 +21,11 @@ import "cartographer/common/proto/ceres_solver_options.proto";
|
|||
// NEXT ID: 10
|
||||
message CeresScanMatcherOptions {
|
||||
// Scaling parameters for each cost functor.
|
||||
optional double occupied_space_weight = 1;
|
||||
optional double translation_weight = 2;
|
||||
optional double rotation_weight = 3;
|
||||
double occupied_space_weight = 1;
|
||||
double translation_weight = 2;
|
||||
double rotation_weight = 3;
|
||||
|
||||
// Configure the Ceres solver. See the Ceres documentation for more
|
||||
// information: https://code.google.com/p/ceres-solver/
|
||||
optional common.proto.CeresSolverOptions ceres_solver_options = 9;
|
||||
common.proto.CeresSolverOptions ceres_solver_options = 9;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,19 +12,19 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_2d.scan_matching.proto;
|
||||
|
||||
message FastCorrelativeScanMatcherOptions {
|
||||
// Minimum linear search window in which the best possible scan alignment
|
||||
// will be found.
|
||||
optional double linear_search_window = 3;
|
||||
double linear_search_window = 3;
|
||||
|
||||
// Minimum angular search window in which the best possible scan alignment
|
||||
// will be found.
|
||||
optional double angular_search_window = 4;
|
||||
double angular_search_window = 4;
|
||||
|
||||
// Number of precomputed grids to use.
|
||||
optional int32 branch_and_bound_depth = 2;
|
||||
int32 branch_and_bound_depth = 2;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,20 +12,20 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_2d.scan_matching.proto;
|
||||
|
||||
message RealTimeCorrelativeScanMatcherOptions {
|
||||
// Minimum linear search window in which the best possible scan alignment
|
||||
// will be found.
|
||||
optional double linear_search_window = 1;
|
||||
double linear_search_window = 1;
|
||||
|
||||
// Minimum angular search window in which the best possible scan alignment
|
||||
// will be found.
|
||||
optional double angular_search_window = 2;
|
||||
double angular_search_window = 2;
|
||||
|
||||
// Weights applied to each part of the score.
|
||||
optional double translation_delta_cost_weight = 3;
|
||||
optional double rotation_delta_cost_weight = 4;
|
||||
double translation_delta_cost_weight = 3;
|
||||
double rotation_delta_cost_weight = 4;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,12 +12,12 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_3d.proto;
|
||||
|
||||
message HybridGrid {
|
||||
optional float resolution = 1;
|
||||
float resolution = 1;
|
||||
// '{x, y, z}_indices[i]' is the index of 'values[i]'.
|
||||
repeated sint32 x_indices = 3 [packed = true];
|
||||
repeated sint32 y_indices = 4 [packed = true];
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_3d.proto;
|
||||
|
||||
|
|
@ -25,31 +25,31 @@ import "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.p
|
|||
// NEXT ID: 18
|
||||
message LocalTrajectoryBuilderOptions {
|
||||
// Rangefinder points outside these ranges will be dropped.
|
||||
optional float min_range = 1;
|
||||
optional float max_range = 2;
|
||||
float min_range = 1;
|
||||
float max_range = 2;
|
||||
|
||||
// Number of scans to accumulate into one unwarped, combined scan to use for
|
||||
// scan matching.
|
||||
optional int32 scans_per_accumulation = 3;
|
||||
int32 scans_per_accumulation = 3;
|
||||
|
||||
// Voxel filter that gets applied to the range data immediately after
|
||||
// cropping.
|
||||
optional float voxel_filter_size = 4;
|
||||
float voxel_filter_size = 4;
|
||||
|
||||
// Voxel filter used to compute a sparser point cloud for matching.
|
||||
optional sensor.proto.AdaptiveVoxelFilterOptions
|
||||
sensor.proto.AdaptiveVoxelFilterOptions
|
||||
high_resolution_adaptive_voxel_filter_options = 5;
|
||||
optional sensor.proto.AdaptiveVoxelFilterOptions
|
||||
sensor.proto.AdaptiveVoxelFilterOptions
|
||||
low_resolution_adaptive_voxel_filter_options = 12;
|
||||
|
||||
// Whether to solve the online scan matching first using the correlative scan
|
||||
// matcher to generate a good starting point for Ceres.
|
||||
optional bool use_online_correlative_scan_matching = 13;
|
||||
optional mapping_2d.scan_matching.proto.RealTimeCorrelativeScanMatcherOptions
|
||||
bool use_online_correlative_scan_matching = 13;
|
||||
mapping_2d.scan_matching.proto.RealTimeCorrelativeScanMatcherOptions
|
||||
real_time_correlative_scan_matcher_options = 14;
|
||||
optional scan_matching.proto.CeresScanMatcherOptions
|
||||
scan_matching.proto.CeresScanMatcherOptions
|
||||
ceres_scan_matcher_options = 6;
|
||||
optional MotionFilterOptions motion_filter_options = 7;
|
||||
MotionFilterOptions motion_filter_options = 7;
|
||||
|
||||
// Time constant in seconds for the orientation moving average based on
|
||||
// observed gravity via the IMU. It should be chosen so that the error
|
||||
|
|
@ -57,10 +57,10 @@ message LocalTrajectoryBuilderOptions {
|
|||
// the constant is reduced) and
|
||||
// 2. from integration of angular velocities (which gets worse when the
|
||||
// constant is increased) is balanced.
|
||||
optional double imu_gravity_time_constant = 15;
|
||||
double imu_gravity_time_constant = 15;
|
||||
|
||||
// Number of histogram buckets for the rotational scan matcher.
|
||||
optional int32 rotational_histogram_size = 17;
|
||||
int32 rotational_histogram_size = 17;
|
||||
|
||||
optional SubmapsOptions submaps_options = 8;
|
||||
SubmapsOptions submaps_options = 8;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,17 +12,17 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_3d.proto;
|
||||
|
||||
message MotionFilterOptions {
|
||||
// Threshold above which a new scan is inserted based on time.
|
||||
optional double max_time_seconds = 1;
|
||||
double max_time_seconds = 1;
|
||||
|
||||
// Threshold above which a new scan is inserted based on linear motion.
|
||||
optional double max_distance_meters = 2;
|
||||
double max_distance_meters = 2;
|
||||
|
||||
// Threshold above which a new scan is inserted based on rotational motion.
|
||||
optional double max_angle_radians = 3;
|
||||
double max_angle_radians = 3;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,20 +12,20 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_3d.proto;
|
||||
|
||||
message RangeDataInserterOptions {
|
||||
// Probability change for a hit (this will be converted to odds and therefore
|
||||
// must be greater than 0.5).
|
||||
optional double hit_probability = 1;
|
||||
double hit_probability = 1;
|
||||
|
||||
// Probability change for a miss (this will be converted to odds and therefore
|
||||
// must be less than 0.5).
|
||||
optional double miss_probability = 2;
|
||||
double miss_probability = 2;
|
||||
|
||||
// Up to how many free space voxels are updated for scan matching.
|
||||
// 0 disables free space.
|
||||
optional int32 num_free_space_voxels = 3;
|
||||
int32 num_free_space_voxels = 3;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
import "cartographer/mapping_3d/proto/range_data_inserter_options.proto";
|
||||
|
||||
|
|
@ -21,20 +21,20 @@ package cartographer.mapping_3d.proto;
|
|||
message SubmapsOptions {
|
||||
// Resolution of the 'high_resolution' map in meters used for local SLAM and
|
||||
// loop closure.
|
||||
optional double high_resolution = 1;
|
||||
double high_resolution = 1;
|
||||
|
||||
// Maximum range to filter the point cloud to before insertion into the
|
||||
// 'high_resolution' map.
|
||||
optional double high_resolution_max_range = 4;
|
||||
double high_resolution_max_range = 4;
|
||||
|
||||
// Resolution of the 'low_resolution' version of the map in meters used for
|
||||
// local SLAM only.
|
||||
optional double low_resolution = 5;
|
||||
double low_resolution = 5;
|
||||
|
||||
// Number of scans before adding a new submap. Each submap will get twice the
|
||||
// number of scans inserted: First for initialization without being matched
|
||||
// against, then while being matched.
|
||||
optional int32 num_range_data = 2;
|
||||
int32 num_range_data = 2;
|
||||
|
||||
optional RangeDataInserterOptions range_data_inserter_options = 3;
|
||||
RangeDataInserterOptions range_data_inserter_options = 3;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_3d.scan_matching.proto;
|
||||
|
||||
|
|
@ -22,13 +22,13 @@ import "cartographer/common/proto/ceres_solver_options.proto";
|
|||
message CeresScanMatcherOptions {
|
||||
// Scaling parameters for each cost functor.
|
||||
repeated double occupied_space_weight = 1;
|
||||
optional double translation_weight = 2;
|
||||
optional double rotation_weight = 3;
|
||||
double translation_weight = 2;
|
||||
double rotation_weight = 3;
|
||||
|
||||
// Whether only to allow changes to yaw, keeping roll/pitch constant.
|
||||
optional bool only_optimize_yaw = 5;
|
||||
bool only_optimize_yaw = 5;
|
||||
|
||||
// Configure the Ceres solver. See the Ceres documentation for more
|
||||
// information: https://code.google.com/p/ceres-solver/
|
||||
optional common.proto.CeresSolverOptions ceres_solver_options = 6;
|
||||
common.proto.CeresSolverOptions ceres_solver_options = 6;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,34 +12,34 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.mapping_3d.scan_matching.proto;
|
||||
|
||||
message FastCorrelativeScanMatcherOptions {
|
||||
// Number of precomputed grids to use.
|
||||
optional int32 branch_and_bound_depth = 2;
|
||||
int32 branch_and_bound_depth = 2;
|
||||
|
||||
// Number of full resolution grids to use, additional grids will reduce the
|
||||
// resolution by half each.
|
||||
optional int32 full_resolution_depth = 8;
|
||||
int32 full_resolution_depth = 8;
|
||||
|
||||
// Minimum score for the rotational scan matcher.
|
||||
optional double min_rotational_score = 4;
|
||||
double min_rotational_score = 4;
|
||||
|
||||
// Threshold for the score of the low resolution grid below which a match is
|
||||
// not considered. Only used for 3D.
|
||||
optional double min_low_resolution_score = 9;
|
||||
double min_low_resolution_score = 9;
|
||||
|
||||
// Linear search window in the plane orthogonal to gravity in which the best
|
||||
// possible scan alignment will be found.
|
||||
optional double linear_xy_search_window = 5;
|
||||
double linear_xy_search_window = 5;
|
||||
|
||||
// Linear search window in the gravity direction in which the best possible
|
||||
// scan alignment will be found.
|
||||
optional double linear_z_search_window = 6;
|
||||
double linear_z_search_window = 6;
|
||||
|
||||
// Minimum angular search window in which the best possible scan alignment
|
||||
// will be found.
|
||||
optional double angular_search_window = 7;
|
||||
double angular_search_window = 7;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,18 +12,18 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.sensor.proto;
|
||||
|
||||
message AdaptiveVoxelFilterOptions {
|
||||
// 'max_length' of a voxel edge.
|
||||
optional float max_length = 1;
|
||||
float max_length = 1;
|
||||
|
||||
// If there are more points and not at least 'min_num_points' remain, the
|
||||
// voxel length is reduced trying to get this minimum number of points.
|
||||
optional float min_num_points = 2;
|
||||
float min_num_points = 2;
|
||||
|
||||
// Points further away from the origin are removed.
|
||||
optional float max_range = 3;
|
||||
float max_range = 3;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.sensor.proto;
|
||||
|
||||
|
|
@ -22,37 +22,37 @@ import "cartographer/transform/proto/transform.proto";
|
|||
|
||||
// Compressed collection of a 3D point cloud.
|
||||
message CompressedPointCloud {
|
||||
optional int32 num_points = 1;
|
||||
int32 num_points = 1;
|
||||
repeated int32 point_data = 3 [packed = true];
|
||||
}
|
||||
|
||||
// Proto representation of ::cartographer::sensor::ImuData.
|
||||
message ImuData {
|
||||
optional int64 timestamp = 1;
|
||||
optional transform.proto.Vector3d linear_acceleration = 2;
|
||||
optional transform.proto.Vector3d angular_velocity = 3;
|
||||
int64 timestamp = 1;
|
||||
transform.proto.Vector3d linear_acceleration = 2;
|
||||
transform.proto.Vector3d angular_velocity = 3;
|
||||
}
|
||||
|
||||
// Proto representation of ::cartographer::sensor::OdometryData.
|
||||
message OdometryData {
|
||||
optional int64 timestamp = 1;
|
||||
optional transform.proto.Rigid3d pose = 2;
|
||||
int64 timestamp = 1;
|
||||
transform.proto.Rigid3d pose = 2;
|
||||
}
|
||||
|
||||
// Proto representation of ::cartographer::sensor::FixedFramePoseData.
|
||||
message FixedFramePoseData {
|
||||
optional int64 timestamp = 1;
|
||||
optional transform.proto.Rigid3d pose = 2;
|
||||
int64 timestamp = 1;
|
||||
transform.proto.Rigid3d pose = 2;
|
||||
}
|
||||
|
||||
// Proto representation of ::cartographer::sensor::LandmarkData.
|
||||
message LandmarkData {
|
||||
message Landmark {
|
||||
optional bytes id = 1;
|
||||
optional transform.proto.Rigid3d transform = 2;
|
||||
optional double translation_weight = 3;
|
||||
optional double rotation_weight = 4;
|
||||
bytes id = 1;
|
||||
transform.proto.Rigid3d transform = 2;
|
||||
double translation_weight = 3;
|
||||
double rotation_weight = 4;
|
||||
}
|
||||
optional int64 timestamp = 1;
|
||||
int64 timestamp = 1;
|
||||
repeated Landmark landmarks = 2;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
syntax = "proto2";
|
||||
syntax = "proto3";
|
||||
|
||||
package cartographer.transform.proto;
|
||||
|
||||
|
|
@ -21,57 +21,57 @@ package cartographer.transform.proto;
|
|||
// mirror those used in the Eigen library.
|
||||
|
||||
message Vector2d {
|
||||
optional double x = 1;
|
||||
optional double y = 2;
|
||||
double x = 1;
|
||||
double y = 2;
|
||||
}
|
||||
|
||||
message Vector2f {
|
||||
optional float x = 1;
|
||||
optional float y = 2;
|
||||
float x = 1;
|
||||
float y = 2;
|
||||
}
|
||||
|
||||
message Vector3d {
|
||||
optional double x = 1;
|
||||
optional double y = 2;
|
||||
optional double z = 3;
|
||||
double x = 1;
|
||||
double y = 2;
|
||||
double z = 3;
|
||||
}
|
||||
|
||||
message Vector3f {
|
||||
optional float x = 1;
|
||||
optional float y = 2;
|
||||
optional float z = 3;
|
||||
float x = 1;
|
||||
float y = 2;
|
||||
float z = 3;
|
||||
}
|
||||
|
||||
message Quaterniond {
|
||||
optional double x = 1;
|
||||
optional double y = 2;
|
||||
optional double z = 3;
|
||||
optional double w = 4;
|
||||
double x = 1;
|
||||
double y = 2;
|
||||
double z = 3;
|
||||
double w = 4;
|
||||
}
|
||||
|
||||
message Quaternionf {
|
||||
optional float x = 1;
|
||||
optional float y = 2;
|
||||
optional float z = 3;
|
||||
optional float w = 4;
|
||||
float x = 1;
|
||||
float y = 2;
|
||||
float z = 3;
|
||||
float w = 4;
|
||||
}
|
||||
|
||||
message Rigid2d {
|
||||
optional Vector2d translation = 1;
|
||||
optional double rotation = 2;
|
||||
Vector2d translation = 1;
|
||||
double rotation = 2;
|
||||
}
|
||||
|
||||
message Rigid2f {
|
||||
optional Vector2f translation = 1;
|
||||
optional float rotation = 2;
|
||||
Vector2f translation = 1;
|
||||
float rotation = 2;
|
||||
}
|
||||
|
||||
message Rigid3d {
|
||||
optional Vector3d translation = 1;
|
||||
optional Quaterniond rotation = 2;
|
||||
Vector3d translation = 1;
|
||||
Quaterniond rotation = 2;
|
||||
}
|
||||
|
||||
message Rigid3f {
|
||||
optional Vector3f translation = 1;
|
||||
optional Quaternionf rotation = 2;
|
||||
Vector3f translation = 1;
|
||||
Quaternionf rotation = 2;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue