63 lines
1.9 KiB
Protocol Buffer
63 lines
1.9 KiB
Protocol Buffer
// 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/trajectory.proto";
|
|
import "cartographer/transform/proto/transform.proto";
|
|
|
|
message SubmapId {
|
|
int32 trajectory_id = 1;
|
|
int32 submap_index = 2; // Submap index in the given trajectory.
|
|
}
|
|
|
|
message NodeId {
|
|
int32 trajectory_id = 1;
|
|
int32 node_index = 2; // Node index in the given trajectory.
|
|
}
|
|
|
|
message PoseGraph {
|
|
message Constraint {
|
|
// Differentiates between intra-submap (where the range data was inserted
|
|
// into the submap) and inter-submap constraints (where the range data was
|
|
// not inserted into the submap).
|
|
enum Tag {
|
|
INTRA_SUBMAP = 0;
|
|
INTER_SUBMAP = 1;
|
|
}
|
|
|
|
SubmapId submap_id = 1; // Submap ID.
|
|
NodeId node_id = 2; // Node ID.
|
|
// Pose of the node relative to submap, i.e. taking data from the node frame
|
|
// into the submap frame.
|
|
transform.proto.Rigid3d relative_pose = 3;
|
|
// Weight of the translational part of the constraint.
|
|
double translation_weight = 6;
|
|
// Weight of the rotational part of the constraint.
|
|
double rotation_weight = 7;
|
|
Tag tag = 5;
|
|
}
|
|
|
|
message LandmarkPose {
|
|
string landmark_id = 1;
|
|
transform.proto.Rigid3d global_pose = 2;
|
|
}
|
|
|
|
repeated Constraint constraint = 2;
|
|
repeated Trajectory trajectory = 4;
|
|
repeated LandmarkPose landmark_poses = 5;
|
|
}
|