33 lines
1.2 KiB
Protocol Buffer
33 lines
1.2 KiB
Protocol Buffer
// Copyright 2017 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/sensor/proto/sensor.proto";
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import "cartographer/transform/proto/transform.proto";
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// Serialized state of a mapping::TrajectoryNode::Data.
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message TrajectoryNodeData {
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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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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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transform.proto.Rigid3d local_pose = 7;
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}
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