43 lines
1.3 KiB
Protocol Buffer
43 lines
1.3 KiB
Protocol Buffer
// Copyright 2018 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.mapping.proto;
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import "cartographer/mapping/proto/map_limits.proto";
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import "cartographer/mapping/proto/probability_grid.proto";
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import "cartographer/mapping/proto/tsdf_2d.proto";
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message Grid2D {
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message CellBox {
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int32 max_x = 1;
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int32 max_y = 2;
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int32 min_x = 3;
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int32 min_y = 4;
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}
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MapLimits limits = 1;
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// These values are actually int16s, but protos don't have a native int16
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// type.
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repeated int32 cells = 2;
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CellBox known_cells_box = 3;
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oneof grid {
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ProbabilityGrid probability_grid_2d = 4;
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TSDF2D tsdf_2d = 5;
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}
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float min_correspondence_cost = 6;
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float max_correspondence_cost = 7;
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}
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