package cartographer.mapping.proto

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Used in: cloud.proto.LoadStateRequest, SerializedData

• repeated TrajectoryBuilderOptionsWithSensorIds options_with_sensor_ids = 1

Used in: MapLimits

• int32 num_x_cells = 1

• int32 num_y_cells = 2

Connectivity structure between trajectories.

• repeated ConnectedComponents.ConnectedComponent connected_component = 1

Used in: ConnectedComponents

• repeated int32 trajectory_id = 1

Used in: LegacySerializedData, 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

• 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

Used in: Submap3D

• 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: LegacySerializedData, 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: LegacySerializedData, SerializedData

• int32 trajectory_id = 1

• optional sensor.proto.LandmarkData landmark_data = 2

• optional Submap submap = 1

• optional Node node = 2

• optional ImuData imu_data = 3

• optional OdometryData odometry_data = 4

• optional FixedFramePoseData fixed_frame_pose_data = 5

• optional TrajectoryData trajectory_data = 6

• optional LandmarkData landmark_data = 7

Used in: cloud.proto.SensorData

• int64 timestamp = 1

• optional TrajectoryNodeData node_data = 2

• repeated Submap submaps = 3

Used in: TrajectoryBuilderOptions

• float min_range = 14

  Rangefinder points outside these ranges will be dropped.

• float max_range = 15

• float min_z = 1

• float max_z = 2

• float missing_data_ray_length = 16

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

• int32 num_accumulated_range_data = 19

  Number of range data to accumulate into one unwarped, combined range data to use for scan matching.

• float voxel_filter_size = 3

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

• optional sensor.proto.AdaptiveVoxelFilterOptions adaptive_voxel_filter_options = 6

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

• optional sensor.proto.AdaptiveVoxelFilterOptions loop_closure_adaptive_voxel_filter_options = 20

  Voxel filter used to compute a sparser point cloud for finding loop closures.

• bool use_online_correlative_scan_matching = 5

  Whether to solve the online scan matching first using the correlative scan matcher to generate a good starting point for Ceres.

• optional scan_matching.proto.RealTimeCorrelativeScanMatcherOptions real_time_correlative_scan_matcher_options = 7

• optional scan_matching.proto.CeresScanMatcherOptions2D ceres_scan_matcher_options = 8

• optional MotionFilterOptions motion_filter_options = 13

• double imu_gravity_time_constant = 17

  Time constant in seconds for the orientation moving average based on observed gravity via the IMU. It should be chosen so that the error 1. from acceleration measurements not due to gravity (which gets worse when the constant is reduced) and 2. from integration of angular velocities (which gets worse when the constant is increased) is balanced.

• optional SubmapsOptions2D submaps_options = 11

• bool use_imu_data = 12

  True if IMU data should be expected and used.

NEXT ID: 18

Used in: TrajectoryBuilderOptions

• float min_range = 1

  Rangefinder points outside these ranges will be dropped.

• float max_range = 2

• int32 num_accumulated_range_data = 3

  Number of range data to accumulate into one unwarped, combined range data to use for scan matching.

• float voxel_filter_size = 4

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

• optional sensor.proto.AdaptiveVoxelFilterOptions high_resolution_adaptive_voxel_filter_options = 5

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

• optional sensor.proto.AdaptiveVoxelFilterOptions low_resolution_adaptive_voxel_filter_options = 12

• bool use_online_correlative_scan_matching = 13

  Whether to solve the online scan matching first using the correlative scan matcher to generate a good starting point for Ceres.

• optional scan_matching.proto.RealTimeCorrelativeScanMatcherOptions real_time_correlative_scan_matcher_options = 14

• optional scan_matching.proto.CeresScanMatcherOptions3D ceres_scan_matcher_options = 6

• optional MotionFilterOptions motion_filter_options = 7

• double imu_gravity_time_constant = 15

  Time constant in seconds for the orientation moving average based on observed gravity via the IMU. It should be chosen so that the error 1. from acceleration measurements not due to gravity (which gets worse when the constant is reduced) and 2. from integration of angular velocities (which gets worse when the constant is increased) is balanced.

• int32 rotational_histogram_size = 17

  Number of histogram buckets for the rotational scan matcher.

• optional SubmapsOptions3D submaps_options = 8

Used in: cloud.proto.MapBuilderServerOptions

• bool use_trajectory_builder_2d = 1

• bool use_trajectory_builder_3d = 2

• int32 num_background_threads = 3

  Number of threads to use for background computations.

• optional PoseGraphOptions pose_graph_options = 4

• bool collate_by_trajectory = 5

  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, LocalTrajectoryBuilderOptions3D

• 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: LegacySerializedData, SerializedData

• optional NodeId node_id = 1

• optional TrajectoryNodeData node_data = 5

Used in: cloud.proto.LocalSlamInsertionResult, cloud.proto.ReceiveGlobalSlamOptimizationsResponse, cloud.proto.TrajectoryNodePose, Node, PoseGraph.Constraint

• int32 trajectory_id = 1

• int32 node_index = 2

  Node index in the given trajectory.

Used in: LegacySerializedData, SerializedData

• int32 trajectory_id = 1

• optional sensor.proto.OdometryData odometry_data = 2

Used in: cloud.proto.LoadStateRequest, SerializedData

• repeated PoseGraph.Constraint constraint = 2

• repeated Trajectory trajectory = 4

• repeated PoseGraph.LandmarkPose landmark_poses = 5

Used in: cloud.proto.GetConstraintsResponse, 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: cloud.proto.GetLandmarkPosesResponse, cloud.proto.SetLandmarkPoseRequest, PoseGraph

• string landmark_id = 1

• optional transform.proto.Rigid3d global_pose = 2

Used in: MapBuilderOptions

• int32 optimize_every_n_nodes = 1

  Online loop closure: If positive, will run the loop closure while the map is built.

• optional constraints.proto.ConstraintBuilderOptions constraint_builder_options = 3

  Options for the constraint builder.

• double matcher_translation_weight = 7

  Weight used in the optimization problem for the translational component of non-loop-closure scan matcher constraints.

• double matcher_rotation_weight = 8

  Weight used in the optimization problem for the rotational component of non-loop-closure scan matcher constraints.

• optional optimization.proto.OptimizationProblemOptions optimization_problem_options = 4

  Options for the optimization problem.

• int32 max_num_final_iterations = 6

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

• double global_sampling_ratio = 5

  Rate at which we sample a single trajectory's nodes for global localization.

• bool log_residual_histograms = 9

  Whether to output histograms for the pose residuals.

• double global_constraint_search_after_n_seconds = 10

  If for the duration specified by this option no global contraint has been added between two trajectories, loop closure searches will be performed globally rather than in a smaller search window.

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

Used in: RangeDataInserterOptions

• INVALID_INSERTER = 0

• PROBABILITY_GRID_INSERTER_2D = 1

Used in: SubmapsOptions3D

• 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).

• int32 num_free_space_voxels = 3

  Up to how many free space voxels are updated for scan matching. 0 disables free space.

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.

Used in: cloud.proto.WriteStateResponse

• uint32 format_version = 1

Used in: cloud.proto.LoadStateRequest, cloud.proto.WriteStateResponse

• 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: LegacySerializedData, LocalSlamResultData, SerializedData

• optional SubmapId submap_id = 1

• optional Submap2D submap_2d = 2

• optional Submap3D submap_3d = 3

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

Serialized state of a Submap3D.

Used in: Submap

• optional transform.proto.Rigid3d local_pose = 1

• int32 num_range_data = 2

• bool finished = 3

• optional HybridGrid high_resolution_hybrid_grid = 4

• optional HybridGrid low_resolution_hybrid_grid = 5

Used in: cloud.proto.GetSubmapRequest, cloud.proto.ReceiveGlobalSlamOptimizationsResponse, cloud.proto.SubmapPose, 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: cloud.proto.GetSubmapResponse, 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

Used in: LocalTrajectoryBuilderOptions3D

• double high_resolution = 1

  Resolution of the 'high_resolution' map in meters used for local SLAM and loop closure.

• double high_resolution_max_range = 4

  Maximum range to filter the point cloud to before insertion into the 'high_resolution' map.

• double low_resolution = 5

  Resolution of the 'low_resolution' version of the map in meters used for local SLAM only.

• int32 num_range_data = 2

  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 RangeDataInserterOptions3D range_data_inserter_options = 3

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: cloud.proto.AddTrajectoryRequest, TrajectoryBuilderOptionsWithSensorIds

• optional LocalTrajectoryBuilderOptions2D trajectory_builder_2d_options = 1

• optional LocalTrajectoryBuilderOptions3D trajectory_builder_3d_options = 2

• bool pure_localization = 3

• optional InitialTrajectoryPose initial_trajectory_pose = 4

• optional TrajectoryBuilderOptions.OverlappingSubmapsTrimmerOptions2D overlapping_submaps_trimmer_2d = 5

Used in: TrajectoryBuilderOptions

• int32 fresh_submaps_count = 1

• double min_covered_area = 2

• int32 min_added_submaps_count = 3

Used in: AllTrajectoryBuilderOptions

• repeated SensorId sensor_id = 1

• optional TrajectoryBuilderOptions trajectory_builder_options = 2

Used in: LegacySerializedData, 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: LocalSlamResultData, Node

• int64 timestamp = 1

• optional transform.proto.Quaterniond gravity_alignment = 2

• optional sensor.proto.CompressedPointCloud filtered_gravity_aligned_point_cloud = 3

• optional sensor.proto.CompressedPointCloud high_resolution_point_cloud = 4

• optional sensor.proto.CompressedPointCloud low_resolution_point_cloud = 5

• repeated float rotational_scan_matcher_histogram = 6

• optional transform.proto.Rigid3d local_pose = 7