58 lines
2.0 KiB
C++
Executable File
58 lines
2.0 KiB
C++
Executable File
/*
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* 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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*/
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#include <sstream>
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#include "cartographer/io/proto_stream.h"
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#include "cartographer/io/serialization_format_migration.h"
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#include "gflags/gflags.h"
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#include "glog/logging.h"
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DEFINE_bool(include_unfinished_submaps, true,
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"Whether to include unfinished submaps in the output.");
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namespace cartographer {
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namespace io {
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int pbstream_migrate(int argc, char** argv) {
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std::stringstream ss;
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ss << "\n\nTool for migrating files that use submaps without histograms "
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"to the new submap format, which includes a histogram. You can "
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"set --include_unfinished_submaps to false if you want to exclude "
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"unfinished submaps in the output."
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<< "\nUsage: " << argv[0] << " " << argv[1]
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<< " <input_filename> <output_filename> [flags]";
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google::SetUsageMessage(ss.str());
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if (argc < 4) {
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google::ShowUsageWithFlagsRestrict(argv[0], "pbstream_migrate");
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return EXIT_FAILURE;
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}
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cartographer::io::ProtoStreamReader input(argv[2]);
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cartographer::io::ProtoStreamWriter output(argv[3]);
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LOG(INFO) << "Migrating serialization format 1 in \"" << argv[2]
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<< "\" to serialization format 2 in \"" << argv[3] << "\"";
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cartographer::io::MigrateStreamVersion1ToVersion2(
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&input, &output, FLAGS_include_unfinished_submaps);
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CHECK(output.Close()) << "Could not write migrated pbstream file to: "
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<< argv[3];
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return EXIT_SUCCESS;
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}
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} // namespace io
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} // namespace cartographer
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