73 lines
2.1 KiB
Protocol Buffer
73 lines
2.1 KiB
Protocol Buffer
// Copyright 2016 The Cartographer Authors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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syntax = "proto3";
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package cartographer.sensor.proto;
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option java_outer_classname = "Sensor";
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import "cartographer/transform/proto/transform.proto";
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// Compressed collection of a 3D point cloud.
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message CompressedPointCloud {
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int32 num_points = 1;
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repeated int32 point_data = 3;
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}
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// Proto representation of ::cartographer::sensor::TimedPointCloudData.
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message TimedPointCloudData {
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int64 timestamp = 1;
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transform.proto.Vector3f origin = 2;
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repeated transform.proto.Vector4f point_data = 3;
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}
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// Proto representation of ::cartographer::sensor::RangeData.
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message RangeData {
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transform.proto.Vector3f origin = 1;
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repeated transform.proto.Vector3f returns = 2;
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repeated transform.proto.Vector3f misses = 3;
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}
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// Proto representation of ::cartographer::sensor::ImuData.
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message ImuData {
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int64 timestamp = 1;
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transform.proto.Vector3d linear_acceleration = 2;
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transform.proto.Vector3d angular_velocity = 3;
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}
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// Proto representation of ::cartographer::sensor::OdometryData.
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message OdometryData {
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int64 timestamp = 1;
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transform.proto.Rigid3d pose = 2;
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}
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// Proto representation of ::cartographer::sensor::FixedFramePoseData.
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message FixedFramePoseData {
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int64 timestamp = 1;
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transform.proto.Rigid3d pose = 2;
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}
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// Proto representation of ::cartographer::sensor::LandmarkData.
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message LandmarkData {
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message Landmark {
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bytes id = 1;
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transform.proto.Rigid3d landmark_to_tracking_transform = 2;
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double translation_weight = 3;
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double rotation_weight = 4;
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}
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int64 timestamp = 1;
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repeated Landmark landmarks = 2;
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}
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