46 lines
1.7 KiB
C++
Executable File
46 lines
1.7 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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#ifndef CARTOGRAPHER_IO_SERIALIZATION_FORMAT_MIGRATION_H_
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#define CARTOGRAPHER_IO_SERIALIZATION_FORMAT_MIGRATION_H_
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#include "cartographer/io/proto_stream_interface.h"
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#include "cartographer/mapping/id.h"
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#include "cartographer/mapping/proto/serialization.pb.h"
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namespace cartographer {
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namespace io {
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// This helper function migrates the input stream, which is supposed
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// to contain submaps without histograms (stream format version 1) to
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// an output stream containing submaps with histograms (version 2).
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void MigrateStreamVersion1ToVersion2(
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cartographer::io::ProtoStreamReaderInterface* const input,
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cartographer::io::ProtoStreamWriterInterface* const output,
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bool include_unfinished_submaps);
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mapping::MapById<mapping::SubmapId, mapping::proto::Submap>
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MigrateSubmapFormatVersion1ToVersion2(
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const mapping::MapById<mapping::SubmapId, mapping::proto::Submap>&
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submap_id_to_submaps,
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mapping::MapById<mapping::NodeId, mapping::proto::Node>& node_id_to_nodes,
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const mapping::proto::PoseGraph& pose_graph_proto);
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_SERIALIZATION_FORMAT_MIGRATION_H_
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