package cartographer.mapping.proto

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Used in: SerializedData

• repeated TrajectoryBuilderOptionsWithSensorIds options_with_sensor_ids = 1

Used in: MapLimits

• int32 num_x_cells = 1

• int32 num_y_cells = 2

Used in: CircleFeature

• float score = 1

• float radius = 2

Used in: Submap2D

• optional Keypoint keypoint = 1

• optional CircleDescriptor fdescriptor = 2

Used in: LocalTrajectoryBuilderOptions2D

• repeated float detect_radii = 1

Connectivity structure between trajectories.

• repeated ConnectedComponents.ConnectedComponent connected_component = 1

Used in: ConnectedComponents

• repeated int32 trajectory_id = 1

Used in: SerializedData

• int32 trajectory_id = 1

• optional sensor.proto.FixedFramePoseData fixed_frame_pose_data = 2

Used in: Submap2D

• optional MapLimits limits = 1

• repeated int32 cells = 2

  These values are actually int16s, but protos don't have a native int16 type.

• optional Grid2D.CellBox known_cells_box = 3

• oneof grid

  • ProbabilityGrid probability_grid_2d = 4

  • TSDF2D tsdf_2d = 5

• float min_correspondence_cost = 6

• float max_correspondence_cost = 7

Used in: Grid2D

• int32 max_x = 1

• int32 max_y = 2

• int32 min_x = 3

• int32 min_y = 4

Used in: SubmapsOptions2D

• GridOptions2D.GridType grid_type = 1

• float resolution = 2

Used in: GridOptions2D

• INVALID_GRID = 0

• PROBABILITY_GRID = 1

• TSDF = 2

• float resolution = 1

• repeated sint32 x_indices = 3

  '{x, y, z}_indices[i]' is the index of 'values[i]'.

• repeated sint32 y_indices = 4

• repeated sint32 z_indices = 5

• repeated int32 values = 6

  The entries in 'values' should be uint16s, not int32s, but protos don't have a uint16 type.

Used in: SerializedData

• int32 trajectory_id = 1

• optional sensor.proto.ImuData imu_data = 2

Used in: TrajectoryBuilderOptions

• optional transform.proto.Rigid3d relative_pose = 1

• int32 to_trajectory_id = 2

• int64 timestamp = 3

Used in: CircleFeature

• optional transform.proto.Vector3f position = 1

• optional transform.proto.Vector3f covariance = 2

Used in: SerializedData

• int32 trajectory_id = 1

• optional sensor.proto.LandmarkData landmark_data = 2

Used in: TrajectoryBuilderOptions

• float min_range = 1

  Rangefinder points outside these ranges will be dropped.

• float max_range = 2

• float min_z = 3

• float max_z = 4

• float missing_data_ray_length = 5

  Points beyond 'max_range' will be inserted with this length as empty space.

• optional CircleFeatureOptions circle_feature_options = 6

• float voxel_filter_size = 7

  Voxel filter that gets applied to the range data immediately after cropping.

• optional sensor.proto.AdaptiveVoxelFilterOptions adaptive_voxel_filter_options = 8

  Voxel filter used to compute a sparser point cloud for matching.

• optional scan_matching.proto.CeresScanMatcherOptions2D ceres_scan_matcher_options = 9

• optional MotionFilterOptions motion_filter_options = 10

• optional SubmapsOptions2D submaps_options = 11

• optional PoseGraphOptions pose_graph_options = 1

• bool collate_by_trajectory = 2

  Sort sensor input independently for each trajectory.

Used in: Grid2D

• double resolution = 1

• optional transform.proto.Vector2d max = 2

• optional CellLimits cell_limits = 3

Used in: LocalTrajectoryBuilderOptions2D

• double max_time_seconds = 1

  Threshold above which range data is inserted based on time.

• double max_distance_meters = 2

  Threshold above which range data is inserted based on linear motion.

• double max_angle_radians = 3

  Threshold above which range data is inserted based on rotational motion.

Used in: SerializedData

• optional NodeId node_id = 1

• optional TrajectoryNodeData node_data = 5

Used in: Node, PoseGraph.Constraint

• int32 trajectory_id = 1

• int32 node_index = 2

  Node index in the given trajectory.

Used in: TSDFRangeDataInserterOptions2D

• int32 num_normal_samples = 1

• float sample_radius = 2

Used in: SerializedData

• int32 trajectory_id = 1

• optional sensor.proto.OdometryData odometry_data = 2

Used in: SerializedData

• repeated PoseGraph.Constraint constraint = 2

• repeated Trajectory trajectory = 4

• repeated PoseGraph.LandmarkPose landmark_poses = 5

Used in: PoseGraph

• optional SubmapId submap_id = 1

  Submap ID.

• optional NodeId node_id = 2

  Node ID.

• optional transform.proto.Rigid3d relative_pose = 3

  Pose of the node relative to submap, i.e. taking data from the node frame into the submap frame.

• double translation_weight = 6

  Weight of the translational part of the constraint.

• double rotation_weight = 7

  Weight of the rotational part of the constraint.

• Constraint.Tag tag = 5

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).

Used in: Constraint

• INTRA_SUBMAP = 0

• INTER_SUBMAP = 1

Used in: PoseGraph

• string landmark_id = 1

• optional transform.proto.Rigid3d global_pose = 2

Used in: MapBuilderOptions

• optional constraints.proto.ConstraintBuilderOptions constraint_builder_options = 1

  Options for the constraint builder.

• double matcher_translation_weight = 2

  Weight used in the optimization problem for the INTER constraints on own trajectory

• double matcher_rotation_weight = 3

• optional optimization.proto.OptimizationProblemOptions optimization_problem_options = 4

  Options for the optimization problem.

• int32 max_num_final_iterations = 5

  Number of iterations to use in 'optimization_problem_options' for the final optimization.

• optional PoseGraphOptions.OverlappingSubmapsTrimmerOptions2D overlapping_submaps_trimmer_2d = 6

  Instantiates the 'OverlappingSubmapsTrimmer2d' which trims submaps from the pose graph based on the area of overlap.

• int32 min_globally_searched_constraints_for_trajectory = 7

  Search for constraints globally until until this number reached Once this number is reached constraint searches are seeded with a pose

• int32 local_constraint_every_n_nodes = 8

• int32 global_constraint_every_n_nodes = 9

• double max_constraint_match_distance = 10

  Search for constraints if submap within this distance

Used in: PoseGraphOptions

• int32 fresh_submaps_count = 1

• double min_covered_area = 2

• int32 min_added_submaps_count = 3

Used in: Grid2D

(message has no fields)

Used in: RangeDataInserterOptions

• double hit_probability = 1

  Probability change for a hit (this will be converted to odds and therefore must be greater than 0.5).

• double miss_probability = 2

  Probability change for a miss (this will be converted to odds and therefore must be less than 0.5).

• bool insert_free_space = 3

  If 'false', free space will not change the probabilities in the occupancy grid.

Used in: SubmapsOptions2D

• RangeDataInserterOptions.RangeDataInserterType range_data_inserter_type = 1

• optional ProbabilityGridRangeDataInserterOptions2D probability_grid_range_data_inserter_options_2d = 2

• optional TSDFRangeDataInserterOptions2D tsdf_range_data_inserter_options_2d = 3

Used in: RangeDataInserterOptions

• INVALID_INSERTER = 0

• PROBABILITY_GRID_INSERTER_2D = 1

• TSDF_INSERTER_2D = 2

Used in: TrajectoryBuilderOptionsWithSensorIds

• SensorId.SensorType type = 1

• string id = 2

Used in: SensorId

• RANGE = 0

• IMU = 1

• ODOMETRY = 2

• FIXED_FRAME_POSE = 3

• LANDMARK = 4

• LOCAL_SLAM_RESULT = 5

Header of the serialization format. At the moment it only contains the version of the format.

• uint32 format_version = 1

• oneof data

  • PoseGraph pose_graph = 1

  • AllTrajectoryBuilderOptions all_trajectory_builder_options = 2

  • Submap submap = 3

  • Node node = 4

  • TrajectoryData trajectory_data = 5

  • ImuData imu_data = 6

  • OdometryData odometry_data = 7

  • FixedFramePoseData fixed_frame_pose_data = 8

  • LandmarkData landmark_data = 9

Used in: SerializedData

• optional SubmapId submap_id = 1

• optional Submap2D submap_2d = 2

Serialized state of a Submap2D.

Used in: Submap

• optional transform.proto.Rigid3d local_pose = 1

• int32 num_range_data = 2

• bool finished = 3

• optional Grid2D grid = 4

• repeated CircleFeature circle_features = 5

Used in: PoseGraph.Constraint, Submap

• int32 trajectory_id = 1

• int32 submap_index = 2

  Submap index in the given trajectory.

• repeated SubmapList.TrajectorySubmapList trajectory = 2

Used in: TrajectorySubmapList

• int32 submap_version = 1

• optional transform.proto.Rigid3d pose = 3

Used in: SubmapList

• repeated SubmapEntry submap = 1

• optional SubmapQuery.Request request = 1

• optional SubmapQuery.Response response = 2

Used in: SubmapQuery

• int32 submap_index = 1

  Index into 'SubmapList.trajectory(trajectory_id).submap'.

• int32 trajectory_id = 2

  Index into 'TrajectoryList.trajectory'.

Used in: SubmapQuery

• int32 submap_version = 2

  Version of the given submap, higher means newer.

• repeated Response.SubmapTexture textures = 10

  When multiple textures are present, high resolution comes first.

• string error_message = 8

  Error message in response to malformed requests.

Texture that visualizes a grid of a submap.

Used in: Response

• bytes cells = 1

  GZipped map data, in row-major order, starting with (0,0). Each cell consists of two bytes: value (premultiplied by alpha) and alpha.

• int32 width = 2

  Dimensions of the grid in cells.

• int32 height = 3

• double resolution = 4

  Size of one cell in meters.

• optional transform.proto.Rigid3d slice_pose = 5

  Pose of the resolution*width x resolution*height rectangle in the submap frame.

Used in: LocalTrajectoryBuilderOptions2D

• int32 num_range_data = 1

  Number of range data before adding a new submap. Each submap will get twice the number of range data inserted: First for initialization without being matched against, then while being matched.

• optional GridOptions2D grid_options_2d = 2

• optional RangeDataInserterOptions range_data_inserter_options = 3

• int32 min_feature_observations = 4

• double max_feature_score = 5

Used in: Grid2D

• float truncation_distance = 1

• float max_weight = 2

• repeated int32 weight_cells = 3

Used in: RangeDataInserterOptions

• double truncation_distance = 1

  Distance to the surface within the signed distance function is evaluated.

• double maximum_weight = 2

  Maximum weight that can be stored in a cell.

• bool update_free_space = 3

  Enables updating cells between the sensor origin and the range observation as free space.

• optional NormalEstimationOptions2D normal_estimation_options = 4

• bool project_sdf_distance_to_scan_normal = 5

  Project the distance between the updated cell und the range observation to the estimated scan normal.

• int32 update_weight_range_exponent = 6

  Update weight is scaled with 1/distance(origin,hit)^range_exponent.

• double update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 7

  Kernel bandwidth of the weight factor based on the angle between. scan normal and ray

• double update_weight_distance_cell_to_hit_kernel_bandwidth = 8

  Kernel bandwidth of the weight factor based on the distance between cell and scan observation.

Used in: PoseGraph

• int32 trajectory_id = 3

  ID of this trajectory.

• repeated Trajectory.Node node = 1

  Time-ordered sequence of Nodes.

• repeated Trajectory.Submap submap = 2

  Submaps associated with the trajectory.

NEXT_ID: 8

Used in: Trajectory

• int32 node_index = 7

  Index of this node within its trajectory.

• int64 timestamp = 1

• optional transform.proto.Rigid3d pose = 5

  Transform from tracking to global map frame.

Used in: Trajectory

• int32 submap_index = 2

  Index of this submap within its trajectory.

• optional transform.proto.Rigid3d pose = 1

  Transform from submap to global map frame.

Used in: TrajectoryBuilderOptionsWithSensorIds

• optional LocalTrajectoryBuilderOptions2D trajectory_builder_2d_options = 1

• optional InitialTrajectoryPose initial_trajectory_pose = 4

• optional TrajectoryBuilderOptions.PureLocalizationTrimmerOptions pure_localization_trimmer = 6

• bool collate_fixed_frame = 7

• bool collate_landmarks = 8

Used in: TrajectoryBuilderOptions

• int32 max_submaps_to_keep = 1

Used in: AllTrajectoryBuilderOptions

• repeated SensorId sensor_id = 1

• optional TrajectoryBuilderOptions trajectory_builder_options = 2

Used in: SerializedData

• int32 trajectory_id = 1

• double gravity_constant = 2

• optional transform.proto.Quaterniond imu_calibration = 3

• optional transform.proto.Rigid3d fixed_frame_origin_in_map = 4

Serialized state of a mapping::TrajectoryNode::Data.

Used in: Node

• int64 timestamp = 1

• optional sensor.proto.CompressedPointCloud filtered_point_cloud = 2

• optional transform.proto.Rigid3d local_pose = 3