package cartographer.cloud.proto
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Starts a new trajectory and returns its index.
message
map_builder_service.proto:41repeated expected_sensor_ids = 3
optional trajectory_builder_options = 2
message
map_builder_service.proto:64int32 trajectory_id = 1
Adds a batch of sensor data to a trajectory.
message
map_builder_service.proto:68repeated sensor_data = 1
rpc AddOdometryData (stream , )
map_builder_service.proto:219Adds odometry data from the sensor with id 'sensor_metadata.sensor_id' to the trajectory corresponding to 'sensor_metadata.trajectory_id'.
message
map_builder_service.proto:72optional sensor_metadata = 1
optional odometry_data = 2
rpc AddImuData (stream , )
map_builder_service.proto:223Same for IMU data.
message
map_builder_service.proto:77optional sensor_metadata = 1
optional imu_data = 2
rpc AddRangefinderData (stream , )
map_builder_service.proto:226Same for range-finder data.
message
map_builder_service.proto:82optional sensor_metadata = 1
optional timed_point_cloud_data = 2
rpc AddFixedFramePoseData (stream , )
map_builder_service.proto:230Same for fixed-frame pose data.
message
map_builder_service.proto:87optional sensor_metadata = 1
optional fixed_frame_pose_data = 2
rpc AddLandmarkData (stream , )
map_builder_service.proto:234Same for landmark data.
message
map_builder_service.proto:92optional sensor_metadata = 1
optional landmark_data = 2
rpc ReceiveLocalSlamResults (, stream )
map_builder_service.proto:239Requests the server to send a stream of local SLAM results for the given 'trajectory_id'.
message
map_builder_service.proto:101int32 trajectory_id = 1
message
map_builder_service.proto:109int32 trajectory_id = 1
int64 timestamp = 2
optional local_pose = 3
optional range_data = 4
optional insertion_result = 5
rpc ReceiveGlobalSlamOptimizations (, stream )
map_builder_service.proto:243Requests the server to send a stream of global SLAM notifications.
message
map_builder_service.proto:117map<int32, > last_optimized_node_ids = 1
map<int32, > last_optimized_submap_ids = 2
Marks a trajectory corresponding to 'trajectory_id' as finished, i.e. no further sensor data is expected.
message
map_builder_service.proto:97int32 trajectory_id = 1
Retrieves a single submap.
message
map_builder_service.proto:124optional submap_id = 1
message
map_builder_service.proto:137optional submap_query_response = 1
string error_msg = 2
Returns the current optimized trajectory poses.
message
map_builder_service.proto:152repeated node_poses = 1
Returns the current optimized landmark poses.
message
map_builder_service.proto:156repeated landmark_poses = 1
Returns the current optimized submap poses.
message
map_builder_service.proto:170repeated submap_poses = 1
Returns the current local-to-global transform for the trajectory.
message
map_builder_service.proto:174int32 trajectory_id = 1
message
map_builder_service.proto:178optional local_to_global = 1
Returns the list of constraints in the current optimization problem.
message
map_builder_service.proto:182repeated constraints = 1
Sets a pose for a landmark.
message
map_builder_service.proto:160optional landmark_pose = 1
Checks whether the trajectory is finished.
message
map_builder_service.proto:193int32 trajectory_id = 1
message
map_builder_service.proto:197bool is_finished = 1
Checks whether the trajectory is frozen.
message
map_builder_service.proto:201int32 trajectory_id = 1
message
map_builder_service.proto:205bool is_frozen = 1
Requests a PoseGraph to call RunFinalOptimization.
rpc LoadState (stream , )
map_builder_service.proto:288Adds serialized SLAM state data in the order defined by ProtoStreamReader.
message
map_builder_service.proto:128oneof state_chunk
pose_graph = 1
all_trajectory_builder_options = 2
serialized_data = 3
rpc WriteState (, stream )
map_builder_service.proto:292Receives serialized SLAM state data in the order defined by ProtoStreamWriter.
message
map_builder_service.proto:186oneof state_chunk
header = 1
serialized_data = 2
message
map_builder_service.proto:105Used in:
optional node_id = 1
string server_address = 1
int32 num_grpc_threads = 2
int32 num_event_threads = 3
optional map_builder_options = 4
string uplink_server_address = 5
int32 upload_batch_size = 6
bool enable_ssl_encryption = 7
message
map_builder_service.proto:52Used in:
optional sensor_metadata = 1
oneof sensor_data
odometry_data = 2
imu_data = 3
timed_point_cloud_data = 4
fixed_frame_pose_data = 5
landmark_data = 6
local_slam_result_data = 7
message
map_builder_service.proto:36Used in:
string id = 1
SensorType type = 2
message
map_builder_service.proto:47Used in: , , , , ,
int32 trajectory_id = 1
string sensor_id = 2
Used in:
RANGE = 0
IMU = 1
ODOMETRY = 2
FIXED_FRAME_POSE = 3
LANDMARK = 4
LOCAL_SLAM_RESULT = 5
message
map_builder_service.proto:164Used in:
optional submap_id = 1
int32 submap_version = 2
optional global_pose = 3
message
map_builder_service.proto:142Used in:
optional node_id = 1
optional global_pose = 2
optional constant_pose_data = 3
message
map_builder_service.proto:143Used in:
int64 timestamp = 1
optional local_pose = 2