diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..0fcccdd --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,134 @@ +# Copyright 2016 The Cartographer Authors +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +cmake_minimum_required (VERSION 2.8.7) + +project(cartographer) +set(CARTOGRAPHER_MAJOR_VERSION 1) +set(CARTOGRAPHER_MINOR_VERSION 0) +set(CARTOGRAPHER_PATCH_VERSION 0) +set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION}) +set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}) + +include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake") +SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules) + +if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "") + set(CMAKE_BUILD_TYPE Release) +endif() + +if(CMAKE_BUILD_TYPE STREQUAL "Release") + google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG") +elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo") + google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG") +elseif(CMAKE_BUILD_TYPE STREQUAL "Debug") + message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.") +else() + message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}") +endif() + +message(STATUS "Build type: ${CMAKE_BUILD_TYPE}") + +find_package(Boost REQUIRED COMPONENTS system iostreams) +find_package(Ceres REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(LuaGoogle REQUIRED) +find_package(Protobuf REQUIRED) + +# Only build the documentation if we can find Sphinx. +find_package(Sphinx) +if(SPHINX_FOUND) + add_subdirectory("doc") +endif() + +set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.") + +add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock") + +google_add_flag(GOOG_CXX_FLAGS "-std=c++11") + +if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") + google_add_flag(GOOG_CXX_FLAGS "-Weverything") + google_add_flag(GOOG_CXX_FLAGS "-Werror=deprecated") + google_add_flag(GOOG_CXX_FLAGS "-Werror=non-pod-varargs") +else() + google_add_flag(GOOG_CXX_FLAGS "-Wall") + google_add_flag(GOOG_CXX_FLAGS "-Wpedantic") +endif() + +# Turn some warnings into errors. These are defined for clang and gcc. +google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security") +google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type") +google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized") + +enable_testing() + +SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES") + +# Install catkin package.xml +install(FILES package.xml DESTINATION share/cartographer) + +set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files") +install(DIRECTORY configuration_files DESTINATION share/cartographer/) + +add_subdirectory("cartographer") + +include(CMakePackageConfigHelpers) + +# Create a cartographer-config.cmake file for the use from the install tree +# and install it +set(CARTOGRAPHER_LIBRARY_DIRS "${CMAKE_INSTALL_PREFIX}/lib") +list(APPEND CARTOGRAPHER_LIBRARY_DIRS "${LUA_LIBRARY_DIR}") + +set(CARTOGRAPHER_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include") +list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}") +list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}") +list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}") + +google_combined_library(cartographer + SRCS "${ALL_LIBRARIES}" +) + +get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION) +install( + FILES + ${CARTOGRAPHER_LIBRARY_FILE} + DESTINATION + lib +) + +# TODO(hrapp): We have to mention glog here, otherwise we get unresolved +# symbols. Piggybacking on Ceres does not seem to do the trick. +set(CARTOGRAPHER_LIBRARIES "") +list(APPEND CARTOGRAPHER_LIBRARIES "cartographer") +list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}") +list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}") +list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}") +list(APPEND CARTOGRAPHER_LIBRARIES "${PROTOBUF_LIBRARIES}") +list(APPEND CARTOGRAPHER_LIBRARIES "webp") +list(APPEND CARTOGRAPHER_LIBRARIES "glog") + +CONFIGURE_PACKAGE_CONFIG_FILE( + cartographer-config.cmake.in + "${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake" + PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS + INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer +) + +install( + FILES + "${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake" + DESTINATION + share/cartographer/ +) diff --git a/cartographer/cartographer-config.cmake.in b/cartographer-config.cmake.in similarity index 100% rename from cartographer/cartographer-config.cmake.in rename to cartographer-config.cmake.in diff --git a/cartographer/CMakeLists.txt b/cartographer/CMakeLists.txt index 0fcccdd..9982b30 100644 --- a/cartographer/CMakeLists.txt +++ b/cartographer/CMakeLists.txt @@ -12,123 +12,11 @@ # See the License for the specific language governing permissions and # limitations under the License. -cmake_minimum_required (VERSION 2.8.7) - -project(cartographer) -set(CARTOGRAPHER_MAJOR_VERSION 1) -set(CARTOGRAPHER_MINOR_VERSION 0) -set(CARTOGRAPHER_PATCH_VERSION 0) -set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION}) -set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}) - -include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake") -SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules) - -if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "") - set(CMAKE_BUILD_TYPE Release) -endif() - -if(CMAKE_BUILD_TYPE STREQUAL "Release") - google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG") -elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo") - google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG") -elseif(CMAKE_BUILD_TYPE STREQUAL "Debug") - message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.") -else() - message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}") -endif() - -message(STATUS "Build type: ${CMAKE_BUILD_TYPE}") - -find_package(Boost REQUIRED COMPONENTS system iostreams) -find_package(Ceres REQUIRED) -find_package(Eigen3 REQUIRED) -find_package(LuaGoogle REQUIRED) -find_package(Protobuf REQUIRED) - -# Only build the documentation if we can find Sphinx. -find_package(Sphinx) -if(SPHINX_FOUND) - add_subdirectory("doc") -endif() - -set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.") - -add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock") - -google_add_flag(GOOG_CXX_FLAGS "-std=c++11") - -if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") - google_add_flag(GOOG_CXX_FLAGS "-Weverything") - google_add_flag(GOOG_CXX_FLAGS "-Werror=deprecated") - google_add_flag(GOOG_CXX_FLAGS "-Werror=non-pod-varargs") -else() - google_add_flag(GOOG_CXX_FLAGS "-Wall") - google_add_flag(GOOG_CXX_FLAGS "-Wpedantic") -endif() - -# Turn some warnings into errors. These are defined for clang and gcc. -google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security") -google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type") -google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized") - -enable_testing() - -SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES") - -# Install catkin package.xml -install(FILES package.xml DESTINATION share/cartographer) - -set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files") -install(DIRECTORY configuration_files DESTINATION share/cartographer/) - -add_subdirectory("cartographer") - -include(CMakePackageConfigHelpers) - -# Create a cartographer-config.cmake file for the use from the install tree -# and install it -set(CARTOGRAPHER_LIBRARY_DIRS "${CMAKE_INSTALL_PREFIX}/lib") -list(APPEND CARTOGRAPHER_LIBRARY_DIRS "${LUA_LIBRARY_DIR}") - -set(CARTOGRAPHER_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include") -list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}") -list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}") -list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}") - -google_combined_library(cartographer - SRCS "${ALL_LIBRARIES}" -) - -get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION) -install( - FILES - ${CARTOGRAPHER_LIBRARY_FILE} - DESTINATION - lib -) - -# TODO(hrapp): We have to mention glog here, otherwise we get unresolved -# symbols. Piggybacking on Ceres does not seem to do the trick. -set(CARTOGRAPHER_LIBRARIES "") -list(APPEND CARTOGRAPHER_LIBRARIES "cartographer") -list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}") -list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}") -list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}") -list(APPEND CARTOGRAPHER_LIBRARIES "${PROTOBUF_LIBRARIES}") -list(APPEND CARTOGRAPHER_LIBRARIES "webp") -list(APPEND CARTOGRAPHER_LIBRARIES "glog") - -CONFIGURE_PACKAGE_CONFIG_FILE( - cartographer-config.cmake.in - "${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake" - PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS - INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer -) - -install( - FILES - "${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake" - DESTINATION - share/cartographer/ -) +add_subdirectory("common") +add_subdirectory("kalman_filter") +add_subdirectory("mapping") +add_subdirectory("mapping_2d") +add_subdirectory("mapping_3d") +add_subdirectory("proto") +add_subdirectory("sensor") +add_subdirectory("transform") diff --git a/cartographer/cartographer/CMakeLists.txt b/cartographer/cartographer/CMakeLists.txt deleted file mode 100644 index 9982b30..0000000 --- a/cartographer/cartographer/CMakeLists.txt +++ /dev/null @@ -1,22 +0,0 @@ -# Copyright 2016 The Cartographer Authors -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -add_subdirectory("common") -add_subdirectory("kalman_filter") -add_subdirectory("mapping") -add_subdirectory("mapping_2d") -add_subdirectory("mapping_3d") -add_subdirectory("proto") -add_subdirectory("sensor") -add_subdirectory("transform") diff --git a/cartographer/cartographer/common/CMakeLists.txt b/cartographer/common/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/common/CMakeLists.txt rename to cartographer/common/CMakeLists.txt diff --git a/cartographer/cartographer/common/blocking_queue.h b/cartographer/common/blocking_queue.h similarity index 100% rename from cartographer/cartographer/common/blocking_queue.h rename to cartographer/common/blocking_queue.h diff --git a/cartographer/cartographer/common/blocking_queue_test.cc b/cartographer/common/blocking_queue_test.cc similarity index 100% rename from cartographer/cartographer/common/blocking_queue_test.cc rename to cartographer/common/blocking_queue_test.cc diff --git a/cartographer/cartographer/common/ceres_solver_options.cc b/cartographer/common/ceres_solver_options.cc similarity index 100% rename from cartographer/cartographer/common/ceres_solver_options.cc rename to cartographer/common/ceres_solver_options.cc diff --git a/cartographer/cartographer/common/ceres_solver_options.h b/cartographer/common/ceres_solver_options.h similarity index 100% rename from cartographer/cartographer/common/ceres_solver_options.h rename to cartographer/common/ceres_solver_options.h diff --git a/cartographer/cartographer/common/config.h.cmake b/cartographer/common/config.h.cmake similarity index 100% rename from cartographer/cartographer/common/config.h.cmake rename to cartographer/common/config.h.cmake diff --git a/cartographer/cartographer/common/configuration_file_resolver.cc b/cartographer/common/configuration_file_resolver.cc similarity index 100% rename from cartographer/cartographer/common/configuration_file_resolver.cc rename to cartographer/common/configuration_file_resolver.cc diff --git a/cartographer/cartographer/common/configuration_file_resolver.h b/cartographer/common/configuration_file_resolver.h similarity index 100% rename from cartographer/cartographer/common/configuration_file_resolver.h rename to cartographer/common/configuration_file_resolver.h diff --git a/cartographer/cartographer/common/fixed_ratio_sampler.cc b/cartographer/common/fixed_ratio_sampler.cc similarity index 100% rename from cartographer/cartographer/common/fixed_ratio_sampler.cc rename to cartographer/common/fixed_ratio_sampler.cc diff --git a/cartographer/cartographer/common/fixed_ratio_sampler.h b/cartographer/common/fixed_ratio_sampler.h similarity index 100% rename from cartographer/cartographer/common/fixed_ratio_sampler.h rename to cartographer/common/fixed_ratio_sampler.h diff --git a/cartographer/cartographer/common/fixed_ratio_sampler_test.cc b/cartographer/common/fixed_ratio_sampler_test.cc similarity index 100% rename from cartographer/cartographer/common/fixed_ratio_sampler_test.cc rename to cartographer/common/fixed_ratio_sampler_test.cc diff --git a/cartographer/cartographer/common/histogram.cc b/cartographer/common/histogram.cc similarity index 100% rename from cartographer/cartographer/common/histogram.cc rename to cartographer/common/histogram.cc diff --git a/cartographer/cartographer/common/histogram.h b/cartographer/common/histogram.h similarity index 100% rename from cartographer/cartographer/common/histogram.h rename to cartographer/common/histogram.h diff --git a/cartographer/cartographer/common/lua.h b/cartographer/common/lua.h similarity index 100% rename from cartographer/cartographer/common/lua.h rename to cartographer/common/lua.h diff --git a/cartographer/cartographer/common/lua_parameter_dictionary.cc b/cartographer/common/lua_parameter_dictionary.cc similarity index 100% rename from cartographer/cartographer/common/lua_parameter_dictionary.cc rename to cartographer/common/lua_parameter_dictionary.cc diff --git a/cartographer/cartographer/common/lua_parameter_dictionary.h b/cartographer/common/lua_parameter_dictionary.h similarity index 100% rename from cartographer/cartographer/common/lua_parameter_dictionary.h rename to cartographer/common/lua_parameter_dictionary.h diff --git a/cartographer/cartographer/common/lua_parameter_dictionary_test.cc b/cartographer/common/lua_parameter_dictionary_test.cc similarity index 100% rename from cartographer/cartographer/common/lua_parameter_dictionary_test.cc rename to cartographer/common/lua_parameter_dictionary_test.cc diff --git a/cartographer/cartographer/common/lua_parameter_dictionary_test_helpers.h b/cartographer/common/lua_parameter_dictionary_test_helpers.h similarity index 100% rename from cartographer/cartographer/common/lua_parameter_dictionary_test_helpers.h rename to cartographer/common/lua_parameter_dictionary_test_helpers.h diff --git a/cartographer/cartographer/common/make_unique.h b/cartographer/common/make_unique.h similarity index 100% rename from cartographer/cartographer/common/make_unique.h rename to cartographer/common/make_unique.h diff --git a/cartographer/cartographer/common/math.h b/cartographer/common/math.h similarity index 100% rename from cartographer/cartographer/common/math.h rename to cartographer/common/math.h diff --git a/cartographer/cartographer/common/math_test.cc b/cartographer/common/math_test.cc similarity index 100% rename from cartographer/cartographer/common/math_test.cc rename to cartographer/common/math_test.cc diff --git a/cartographer/cartographer/common/mutex.h b/cartographer/common/mutex.h similarity index 100% rename from cartographer/cartographer/common/mutex.h rename to cartographer/common/mutex.h diff --git a/cartographer/cartographer/common/ordered_multi_queue.h b/cartographer/common/ordered_multi_queue.h similarity index 100% rename from cartographer/cartographer/common/ordered_multi_queue.h rename to cartographer/common/ordered_multi_queue.h diff --git a/cartographer/cartographer/common/ordered_multi_queue_test.cc b/cartographer/common/ordered_multi_queue_test.cc similarity index 100% rename from cartographer/cartographer/common/ordered_multi_queue_test.cc rename to cartographer/common/ordered_multi_queue_test.cc diff --git a/cartographer/cartographer/common/port.h b/cartographer/common/port.h similarity index 100% rename from cartographer/cartographer/common/port.h rename to cartographer/common/port.h diff --git a/cartographer/cartographer/common/proto/CMakeLists.txt b/cartographer/common/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/common/proto/CMakeLists.txt rename to cartographer/common/proto/CMakeLists.txt diff --git a/cartographer/cartographer/common/proto/ceres_solver_options.proto b/cartographer/common/proto/ceres_solver_options.proto similarity index 100% rename from cartographer/cartographer/common/proto/ceres_solver_options.proto rename to cartographer/common/proto/ceres_solver_options.proto diff --git a/cartographer/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc similarity index 100% rename from cartographer/cartographer/common/thread_pool.cc rename to cartographer/common/thread_pool.cc diff --git a/cartographer/cartographer/common/thread_pool.h b/cartographer/common/thread_pool.h similarity index 100% rename from cartographer/cartographer/common/thread_pool.h rename to cartographer/common/thread_pool.h diff --git a/cartographer/cartographer/common/time.cc b/cartographer/common/time.cc similarity index 100% rename from cartographer/cartographer/common/time.cc rename to cartographer/common/time.cc diff --git a/cartographer/cartographer/common/time.h b/cartographer/common/time.h similarity index 100% rename from cartographer/cartographer/common/time.h rename to cartographer/common/time.h diff --git a/cartographer/cartographer/kalman_filter/CMakeLists.txt b/cartographer/kalman_filter/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/kalman_filter/CMakeLists.txt rename to cartographer/kalman_filter/CMakeLists.txt diff --git a/cartographer/cartographer/kalman_filter/gaussian_distribution.h b/cartographer/kalman_filter/gaussian_distribution.h similarity index 100% rename from cartographer/cartographer/kalman_filter/gaussian_distribution.h rename to cartographer/kalman_filter/gaussian_distribution.h diff --git a/cartographer/cartographer/kalman_filter/gaussian_distribution_test.cc b/cartographer/kalman_filter/gaussian_distribution_test.cc similarity index 100% rename from cartographer/cartographer/kalman_filter/gaussian_distribution_test.cc rename to cartographer/kalman_filter/gaussian_distribution_test.cc diff --git a/cartographer/cartographer/kalman_filter/odometry_state_tracker.cc b/cartographer/kalman_filter/odometry_state_tracker.cc similarity index 100% rename from cartographer/cartographer/kalman_filter/odometry_state_tracker.cc rename to cartographer/kalman_filter/odometry_state_tracker.cc diff --git a/cartographer/cartographer/kalman_filter/odometry_state_tracker.h b/cartographer/kalman_filter/odometry_state_tracker.h similarity index 100% rename from cartographer/cartographer/kalman_filter/odometry_state_tracker.h rename to cartographer/kalman_filter/odometry_state_tracker.h diff --git a/cartographer/cartographer/kalman_filter/pose_tracker.cc b/cartographer/kalman_filter/pose_tracker.cc similarity index 100% rename from cartographer/cartographer/kalman_filter/pose_tracker.cc rename to cartographer/kalman_filter/pose_tracker.cc diff --git a/cartographer/cartographer/kalman_filter/pose_tracker.h b/cartographer/kalman_filter/pose_tracker.h similarity index 100% rename from cartographer/cartographer/kalman_filter/pose_tracker.h rename to cartographer/kalman_filter/pose_tracker.h diff --git a/cartographer/cartographer/kalman_filter/pose_tracker_test.cc b/cartographer/kalman_filter/pose_tracker_test.cc similarity index 100% rename from cartographer/cartographer/kalman_filter/pose_tracker_test.cc rename to cartographer/kalman_filter/pose_tracker_test.cc diff --git a/cartographer/cartographer/kalman_filter/proto/CMakeLists.txt b/cartographer/kalman_filter/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/kalman_filter/proto/CMakeLists.txt rename to cartographer/kalman_filter/proto/CMakeLists.txt diff --git a/cartographer/cartographer/kalman_filter/proto/pose_tracker_options.proto b/cartographer/kalman_filter/proto/pose_tracker_options.proto similarity index 100% rename from cartographer/cartographer/kalman_filter/proto/pose_tracker_options.proto rename to cartographer/kalman_filter/proto/pose_tracker_options.proto diff --git a/cartographer/cartographer/kalman_filter/unscented_kalman_filter.h b/cartographer/kalman_filter/unscented_kalman_filter.h similarity index 100% rename from cartographer/cartographer/kalman_filter/unscented_kalman_filter.h rename to cartographer/kalman_filter/unscented_kalman_filter.h diff --git a/cartographer/cartographer/kalman_filter/unscented_kalman_filter_test.cc b/cartographer/kalman_filter/unscented_kalman_filter_test.cc similarity index 100% rename from cartographer/cartographer/kalman_filter/unscented_kalman_filter_test.cc rename to cartographer/kalman_filter/unscented_kalman_filter_test.cc diff --git a/cartographer/cartographer/mapping/CMakeLists.txt b/cartographer/mapping/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping/CMakeLists.txt rename to cartographer/mapping/CMakeLists.txt diff --git a/cartographer/cartographer/mapping/global_trajectory_builder_interface.cc b/cartographer/mapping/global_trajectory_builder_interface.cc similarity index 100% rename from cartographer/cartographer/mapping/global_trajectory_builder_interface.cc rename to cartographer/mapping/global_trajectory_builder_interface.cc diff --git a/cartographer/cartographer/mapping/global_trajectory_builder_interface.h b/cartographer/mapping/global_trajectory_builder_interface.h similarity index 100% rename from cartographer/cartographer/mapping/global_trajectory_builder_interface.h rename to cartographer/mapping/global_trajectory_builder_interface.h diff --git a/cartographer/cartographer/mapping/probability_values.cc b/cartographer/mapping/probability_values.cc similarity index 100% rename from cartographer/cartographer/mapping/probability_values.cc rename to cartographer/mapping/probability_values.cc diff --git a/cartographer/cartographer/mapping/probability_values.h b/cartographer/mapping/probability_values.h similarity index 100% rename from cartographer/cartographer/mapping/probability_values.h rename to cartographer/mapping/probability_values.h diff --git a/cartographer/cartographer/mapping/probability_values_test.cc b/cartographer/mapping/probability_values_test.cc similarity index 100% rename from cartographer/cartographer/mapping/probability_values_test.cc rename to cartographer/mapping/probability_values_test.cc diff --git a/cartographer/cartographer/mapping/proto/CMakeLists.txt b/cartographer/mapping/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping/proto/CMakeLists.txt rename to cartographer/mapping/proto/CMakeLists.txt diff --git a/cartographer/cartographer/mapping/proto/scan_matching_progress.proto b/cartographer/mapping/proto/scan_matching_progress.proto similarity index 100% rename from cartographer/cartographer/mapping/proto/scan_matching_progress.proto rename to cartographer/mapping/proto/scan_matching_progress.proto diff --git a/cartographer/cartographer/mapping/proto/sparse_pose_graph_options.proto b/cartographer/mapping/proto/sparse_pose_graph_options.proto similarity index 100% rename from cartographer/cartographer/mapping/proto/sparse_pose_graph_options.proto rename to cartographer/mapping/proto/sparse_pose_graph_options.proto diff --git a/cartographer/cartographer/mapping/proto/submaps.proto b/cartographer/mapping/proto/submaps.proto similarity index 100% rename from cartographer/cartographer/mapping/proto/submaps.proto rename to cartographer/mapping/proto/submaps.proto diff --git a/cartographer/cartographer/mapping/proto/trajectory_connectivity.proto b/cartographer/mapping/proto/trajectory_connectivity.proto similarity index 100% rename from cartographer/cartographer/mapping/proto/trajectory_connectivity.proto rename to cartographer/mapping/proto/trajectory_connectivity.proto diff --git a/cartographer/cartographer/mapping/sensor_collator.h b/cartographer/mapping/sensor_collator.h similarity index 100% rename from cartographer/cartographer/mapping/sensor_collator.h rename to cartographer/mapping/sensor_collator.h diff --git a/cartographer/cartographer/mapping/sensor_collator_test.cc b/cartographer/mapping/sensor_collator_test.cc similarity index 100% rename from cartographer/cartographer/mapping/sensor_collator_test.cc rename to cartographer/mapping/sensor_collator_test.cc diff --git a/cartographer/cartographer/mapping/sparse_pose_graph.cc b/cartographer/mapping/sparse_pose_graph.cc similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph.cc rename to cartographer/mapping/sparse_pose_graph.cc diff --git a/cartographer/cartographer/mapping/sparse_pose_graph.h b/cartographer/mapping/sparse_pose_graph.h similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph.h rename to cartographer/mapping/sparse_pose_graph.h diff --git a/cartographer/cartographer/mapping/sparse_pose_graph/CMakeLists.txt b/cartographer/mapping/sparse_pose_graph/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph/CMakeLists.txt rename to cartographer/mapping/sparse_pose_graph/CMakeLists.txt diff --git a/cartographer/cartographer/mapping/sparse_pose_graph/constraint_builder.cc b/cartographer/mapping/sparse_pose_graph/constraint_builder.cc similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph/constraint_builder.cc rename to cartographer/mapping/sparse_pose_graph/constraint_builder.cc diff --git a/cartographer/cartographer/mapping/sparse_pose_graph/constraint_builder.h b/cartographer/mapping/sparse_pose_graph/constraint_builder.h similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph/constraint_builder.h rename to cartographer/mapping/sparse_pose_graph/constraint_builder.h diff --git a/cartographer/cartographer/mapping/sparse_pose_graph/optimization_problem_options.cc b/cartographer/mapping/sparse_pose_graph/optimization_problem_options.cc similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph/optimization_problem_options.cc rename to cartographer/mapping/sparse_pose_graph/optimization_problem_options.cc diff --git a/cartographer/cartographer/mapping/sparse_pose_graph/optimization_problem_options.h b/cartographer/mapping/sparse_pose_graph/optimization_problem_options.h similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph/optimization_problem_options.h rename to cartographer/mapping/sparse_pose_graph/optimization_problem_options.h diff --git a/cartographer/cartographer/mapping/sparse_pose_graph/proto/CMakeLists.txt b/cartographer/mapping/sparse_pose_graph/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph/proto/CMakeLists.txt rename to cartographer/mapping/sparse_pose_graph/proto/CMakeLists.txt diff --git a/cartographer/cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.proto b/cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.proto similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.proto rename to cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.proto diff --git a/cartographer/cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.proto b/cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.proto similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.proto rename to cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.proto diff --git a/cartographer/cartographer/mapping/sparse_pose_graph_test.cc b/cartographer/mapping/sparse_pose_graph_test.cc similarity index 100% rename from cartographer/cartographer/mapping/sparse_pose_graph_test.cc rename to cartographer/mapping/sparse_pose_graph_test.cc diff --git a/cartographer/cartographer/mapping/submaps.cc b/cartographer/mapping/submaps.cc similarity index 100% rename from cartographer/cartographer/mapping/submaps.cc rename to cartographer/mapping/submaps.cc diff --git a/cartographer/cartographer/mapping/submaps.h b/cartographer/mapping/submaps.h similarity index 100% rename from cartographer/cartographer/mapping/submaps.h rename to cartographer/mapping/submaps.h diff --git a/cartographer/cartographer/mapping/submaps_test.cc b/cartographer/mapping/submaps_test.cc similarity index 100% rename from cartographer/cartographer/mapping/submaps_test.cc rename to cartographer/mapping/submaps_test.cc diff --git a/cartographer/cartographer/mapping/trajectory_connectivity.cc b/cartographer/mapping/trajectory_connectivity.cc similarity index 100% rename from cartographer/cartographer/mapping/trajectory_connectivity.cc rename to cartographer/mapping/trajectory_connectivity.cc diff --git a/cartographer/cartographer/mapping/trajectory_connectivity.h b/cartographer/mapping/trajectory_connectivity.h similarity index 100% rename from cartographer/cartographer/mapping/trajectory_connectivity.h rename to cartographer/mapping/trajectory_connectivity.h diff --git a/cartographer/cartographer/mapping/trajectory_connectivity_test.cc b/cartographer/mapping/trajectory_connectivity_test.cc similarity index 100% rename from cartographer/cartographer/mapping/trajectory_connectivity_test.cc rename to cartographer/mapping/trajectory_connectivity_test.cc diff --git a/cartographer/cartographer/mapping/trajectory_node.h b/cartographer/mapping/trajectory_node.h similarity index 100% rename from cartographer/cartographer/mapping/trajectory_node.h rename to cartographer/mapping/trajectory_node.h diff --git a/cartographer/cartographer/mapping_2d/CMakeLists.txt b/cartographer/mapping_2d/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping_2d/CMakeLists.txt rename to cartographer/mapping_2d/CMakeLists.txt diff --git a/cartographer/cartographer/mapping_2d/global_trajectory_builder.cc b/cartographer/mapping_2d/global_trajectory_builder.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/global_trajectory_builder.cc rename to cartographer/mapping_2d/global_trajectory_builder.cc diff --git a/cartographer/cartographer/mapping_2d/global_trajectory_builder.h b/cartographer/mapping_2d/global_trajectory_builder.h similarity index 100% rename from cartographer/cartographer/mapping_2d/global_trajectory_builder.h rename to cartographer/mapping_2d/global_trajectory_builder.h diff --git a/cartographer/cartographer/mapping_2d/laser_fan_inserter.cc b/cartographer/mapping_2d/laser_fan_inserter.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/laser_fan_inserter.cc rename to cartographer/mapping_2d/laser_fan_inserter.cc diff --git a/cartographer/cartographer/mapping_2d/laser_fan_inserter.h b/cartographer/mapping_2d/laser_fan_inserter.h similarity index 100% rename from cartographer/cartographer/mapping_2d/laser_fan_inserter.h rename to cartographer/mapping_2d/laser_fan_inserter.h diff --git a/cartographer/cartographer/mapping_2d/laser_fan_inserter_test.cc b/cartographer/mapping_2d/laser_fan_inserter_test.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/laser_fan_inserter_test.cc rename to cartographer/mapping_2d/laser_fan_inserter_test.cc diff --git a/cartographer/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/local_trajectory_builder.cc rename to cartographer/mapping_2d/local_trajectory_builder.cc diff --git a/cartographer/cartographer/mapping_2d/local_trajectory_builder.h b/cartographer/mapping_2d/local_trajectory_builder.h similarity index 100% rename from cartographer/cartographer/mapping_2d/local_trajectory_builder.h rename to cartographer/mapping_2d/local_trajectory_builder.h diff --git a/cartographer/cartographer/mapping_2d/map_limits.h b/cartographer/mapping_2d/map_limits.h similarity index 100% rename from cartographer/cartographer/mapping_2d/map_limits.h rename to cartographer/mapping_2d/map_limits.h diff --git a/cartographer/cartographer/mapping_2d/map_limits_test.cc b/cartographer/mapping_2d/map_limits_test.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/map_limits_test.cc rename to cartographer/mapping_2d/map_limits_test.cc diff --git a/cartographer/cartographer/mapping_2d/probability_grid.h b/cartographer/mapping_2d/probability_grid.h similarity index 100% rename from cartographer/cartographer/mapping_2d/probability_grid.h rename to cartographer/mapping_2d/probability_grid.h diff --git a/cartographer/cartographer/mapping_2d/probability_grid_test.cc b/cartographer/mapping_2d/probability_grid_test.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/probability_grid_test.cc rename to cartographer/mapping_2d/probability_grid_test.cc diff --git a/cartographer/cartographer/mapping_2d/proto/CMakeLists.txt b/cartographer/mapping_2d/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping_2d/proto/CMakeLists.txt rename to cartographer/mapping_2d/proto/CMakeLists.txt diff --git a/cartographer/cartographer/mapping_2d/proto/laser_fan_inserter_options.proto b/cartographer/mapping_2d/proto/laser_fan_inserter_options.proto similarity index 100% rename from cartographer/cartographer/mapping_2d/proto/laser_fan_inserter_options.proto rename to cartographer/mapping_2d/proto/laser_fan_inserter_options.proto diff --git a/cartographer/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto b/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto similarity index 100% rename from cartographer/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto rename to cartographer/mapping_2d/proto/local_trajectory_builder_options.proto diff --git a/cartographer/cartographer/mapping_2d/proto/submaps_options.proto b/cartographer/mapping_2d/proto/submaps_options.proto similarity index 100% rename from cartographer/cartographer/mapping_2d/proto/submaps_options.proto rename to cartographer/mapping_2d/proto/submaps_options.proto diff --git a/cartographer/cartographer/mapping_2d/ray_casting.cc b/cartographer/mapping_2d/ray_casting.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/ray_casting.cc rename to cartographer/mapping_2d/ray_casting.cc diff --git a/cartographer/cartographer/mapping_2d/ray_casting.h b/cartographer/mapping_2d/ray_casting.h similarity index 100% rename from cartographer/cartographer/mapping_2d/ray_casting.h rename to cartographer/mapping_2d/ray_casting.h diff --git a/cartographer/cartographer/mapping_2d/scan_matching/CMakeLists.txt b/cartographer/mapping_2d/scan_matching/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/CMakeLists.txt rename to cartographer/mapping_2d/scan_matching/CMakeLists.txt diff --git a/cartographer/cartographer/mapping_2d/scan_matching/ceres_scan_matcher.cc b/cartographer/mapping_2d/scan_matching/ceres_scan_matcher.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/ceres_scan_matcher.cc rename to cartographer/mapping_2d/scan_matching/ceres_scan_matcher.cc diff --git a/cartographer/cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h b/cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h rename to cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h diff --git a/cartographer/cartographer/mapping_2d/scan_matching/ceres_scan_matcher_test.cc b/cartographer/mapping_2d/scan_matching/ceres_scan_matcher_test.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/ceres_scan_matcher_test.cc rename to cartographer/mapping_2d/scan_matching/ceres_scan_matcher_test.cc diff --git a/cartographer/cartographer/mapping_2d/scan_matching/correlative_scan_matcher.cc b/cartographer/mapping_2d/scan_matching/correlative_scan_matcher.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/correlative_scan_matcher.cc rename to cartographer/mapping_2d/scan_matching/correlative_scan_matcher.cc diff --git a/cartographer/cartographer/mapping_2d/scan_matching/correlative_scan_matcher.h b/cartographer/mapping_2d/scan_matching/correlative_scan_matcher.h similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/correlative_scan_matcher.h rename to cartographer/mapping_2d/scan_matching/correlative_scan_matcher.h diff --git a/cartographer/cartographer/mapping_2d/scan_matching/correlative_scan_matcher_test.cc b/cartographer/mapping_2d/scan_matching/correlative_scan_matcher_test.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/correlative_scan_matcher_test.cc rename to cartographer/mapping_2d/scan_matching/correlative_scan_matcher_test.cc diff --git a/cartographer/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.cc b/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.cc rename to cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.cc diff --git a/cartographer/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h b/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h rename to cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h diff --git a/cartographer/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc b/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc rename to cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc diff --git a/cartographer/cartographer/mapping_2d/scan_matching/fast_global_localizer.cc b/cartographer/mapping_2d/scan_matching/fast_global_localizer.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/fast_global_localizer.cc rename to cartographer/mapping_2d/scan_matching/fast_global_localizer.cc diff --git a/cartographer/cartographer/mapping_2d/scan_matching/fast_global_localizer.h b/cartographer/mapping_2d/scan_matching/fast_global_localizer.h similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/fast_global_localizer.h rename to cartographer/mapping_2d/scan_matching/fast_global_localizer.h diff --git a/cartographer/cartographer/mapping_2d/scan_matching/occupied_space_cost_functor.h b/cartographer/mapping_2d/scan_matching/occupied_space_cost_functor.h similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/occupied_space_cost_functor.h rename to cartographer/mapping_2d/scan_matching/occupied_space_cost_functor.h diff --git a/cartographer/cartographer/mapping_2d/scan_matching/proto/CMakeLists.txt b/cartographer/mapping_2d/scan_matching/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/proto/CMakeLists.txt rename to cartographer/mapping_2d/scan_matching/proto/CMakeLists.txt diff --git a/cartographer/cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.proto b/cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.proto similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.proto rename to cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.proto diff --git a/cartographer/cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options.proto b/cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options.proto similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options.proto rename to cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options.proto diff --git a/cartographer/cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.proto b/cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.proto similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.proto rename to cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.proto diff --git a/cartographer/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc b/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc rename to cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc diff --git a/cartographer/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h b/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h rename to cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h diff --git a/cartographer/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_test.cc b/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_test.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_test.cc rename to cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_test.cc diff --git a/cartographer/cartographer/mapping_2d/scan_matching/rotation_delta_cost_functor.h b/cartographer/mapping_2d/scan_matching/rotation_delta_cost_functor.h similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/rotation_delta_cost_functor.h rename to cartographer/mapping_2d/scan_matching/rotation_delta_cost_functor.h diff --git a/cartographer/cartographer/mapping_2d/scan_matching/translation_delta_cost_functor.h b/cartographer/mapping_2d/scan_matching/translation_delta_cost_functor.h similarity index 100% rename from cartographer/cartographer/mapping_2d/scan_matching/translation_delta_cost_functor.h rename to cartographer/mapping_2d/scan_matching/translation_delta_cost_functor.h diff --git a/cartographer/cartographer/mapping_2d/sparse_pose_graph.cc b/cartographer/mapping_2d/sparse_pose_graph.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/sparse_pose_graph.cc rename to cartographer/mapping_2d/sparse_pose_graph.cc diff --git a/cartographer/cartographer/mapping_2d/sparse_pose_graph.h b/cartographer/mapping_2d/sparse_pose_graph.h similarity index 100% rename from cartographer/cartographer/mapping_2d/sparse_pose_graph.h rename to cartographer/mapping_2d/sparse_pose_graph.h diff --git a/cartographer/cartographer/mapping_2d/sparse_pose_graph/CMakeLists.txt b/cartographer/mapping_2d/sparse_pose_graph/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping_2d/sparse_pose_graph/CMakeLists.txt rename to cartographer/mapping_2d/sparse_pose_graph/CMakeLists.txt diff --git a/cartographer/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc b/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc rename to cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc diff --git a/cartographer/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.h b/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.h similarity index 100% rename from cartographer/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.h rename to cartographer/mapping_2d/sparse_pose_graph/constraint_builder.h diff --git a/cartographer/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc rename to cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc diff --git a/cartographer/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h similarity index 100% rename from cartographer/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h rename to cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h diff --git a/cartographer/cartographer/mapping_2d/sparse_pose_graph_test.cc b/cartographer/mapping_2d/sparse_pose_graph_test.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/sparse_pose_graph_test.cc rename to cartographer/mapping_2d/sparse_pose_graph_test.cc diff --git a/cartographer/cartographer/mapping_2d/submaps.cc b/cartographer/mapping_2d/submaps.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/submaps.cc rename to cartographer/mapping_2d/submaps.cc diff --git a/cartographer/cartographer/mapping_2d/submaps.h b/cartographer/mapping_2d/submaps.h similarity index 100% rename from cartographer/cartographer/mapping_2d/submaps.h rename to cartographer/mapping_2d/submaps.h diff --git a/cartographer/cartographer/mapping_2d/submaps_test.cc b/cartographer/mapping_2d/submaps_test.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/submaps_test.cc rename to cartographer/mapping_2d/submaps_test.cc diff --git a/cartographer/cartographer/mapping_2d/xy_index.h b/cartographer/mapping_2d/xy_index.h similarity index 100% rename from cartographer/cartographer/mapping_2d/xy_index.h rename to cartographer/mapping_2d/xy_index.h diff --git a/cartographer/cartographer/mapping_2d/xy_index_test.cc b/cartographer/mapping_2d/xy_index_test.cc similarity index 100% rename from cartographer/cartographer/mapping_2d/xy_index_test.cc rename to cartographer/mapping_2d/xy_index_test.cc diff --git a/cartographer/cartographer/mapping_3d/CMakeLists.txt b/cartographer/mapping_3d/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping_3d/CMakeLists.txt rename to cartographer/mapping_3d/CMakeLists.txt diff --git a/cartographer/cartographer/mapping_3d/acceleration_cost_function.h b/cartographer/mapping_3d/acceleration_cost_function.h similarity index 100% rename from cartographer/cartographer/mapping_3d/acceleration_cost_function.h rename to cartographer/mapping_3d/acceleration_cost_function.h diff --git a/cartographer/cartographer/mapping_3d/ceres_pose.cc b/cartographer/mapping_3d/ceres_pose.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/ceres_pose.cc rename to cartographer/mapping_3d/ceres_pose.cc diff --git a/cartographer/cartographer/mapping_3d/ceres_pose.h b/cartographer/mapping_3d/ceres_pose.h similarity index 100% rename from cartographer/cartographer/mapping_3d/ceres_pose.h rename to cartographer/mapping_3d/ceres_pose.h diff --git a/cartographer/cartographer/mapping_3d/global_trajectory_builder.cc b/cartographer/mapping_3d/global_trajectory_builder.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/global_trajectory_builder.cc rename to cartographer/mapping_3d/global_trajectory_builder.cc diff --git a/cartographer/cartographer/mapping_3d/global_trajectory_builder.h b/cartographer/mapping_3d/global_trajectory_builder.h similarity index 100% rename from cartographer/cartographer/mapping_3d/global_trajectory_builder.h rename to cartographer/mapping_3d/global_trajectory_builder.h diff --git a/cartographer/cartographer/mapping_3d/hybrid_grid.h b/cartographer/mapping_3d/hybrid_grid.h similarity index 100% rename from cartographer/cartographer/mapping_3d/hybrid_grid.h rename to cartographer/mapping_3d/hybrid_grid.h diff --git a/cartographer/cartographer/mapping_3d/hybrid_grid_test.cc b/cartographer/mapping_3d/hybrid_grid_test.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/hybrid_grid_test.cc rename to cartographer/mapping_3d/hybrid_grid_test.cc diff --git a/cartographer/cartographer/mapping_3d/imu_integration.cc b/cartographer/mapping_3d/imu_integration.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/imu_integration.cc rename to cartographer/mapping_3d/imu_integration.cc diff --git a/cartographer/cartographer/mapping_3d/imu_integration.h b/cartographer/mapping_3d/imu_integration.h similarity index 100% rename from cartographer/cartographer/mapping_3d/imu_integration.h rename to cartographer/mapping_3d/imu_integration.h diff --git a/cartographer/cartographer/mapping_3d/kalman_local_trajectory_builder.cc b/cartographer/mapping_3d/kalman_local_trajectory_builder.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/kalman_local_trajectory_builder.cc rename to cartographer/mapping_3d/kalman_local_trajectory_builder.cc diff --git a/cartographer/cartographer/mapping_3d/kalman_local_trajectory_builder.h b/cartographer/mapping_3d/kalman_local_trajectory_builder.h similarity index 100% rename from cartographer/cartographer/mapping_3d/kalman_local_trajectory_builder.h rename to cartographer/mapping_3d/kalman_local_trajectory_builder.h diff --git a/cartographer/cartographer/mapping_3d/kalman_local_trajectory_builder_options.cc b/cartographer/mapping_3d/kalman_local_trajectory_builder_options.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/kalman_local_trajectory_builder_options.cc rename to cartographer/mapping_3d/kalman_local_trajectory_builder_options.cc diff --git a/cartographer/cartographer/mapping_3d/kalman_local_trajectory_builder_options.h b/cartographer/mapping_3d/kalman_local_trajectory_builder_options.h similarity index 100% rename from cartographer/cartographer/mapping_3d/kalman_local_trajectory_builder_options.h rename to cartographer/mapping_3d/kalman_local_trajectory_builder_options.h diff --git a/cartographer/cartographer/mapping_3d/kalman_local_trajectory_builder_test.cc b/cartographer/mapping_3d/kalman_local_trajectory_builder_test.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/kalman_local_trajectory_builder_test.cc rename to cartographer/mapping_3d/kalman_local_trajectory_builder_test.cc diff --git a/cartographer/cartographer/mapping_3d/laser_fan_inserter.cc b/cartographer/mapping_3d/laser_fan_inserter.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/laser_fan_inserter.cc rename to cartographer/mapping_3d/laser_fan_inserter.cc diff --git a/cartographer/cartographer/mapping_3d/laser_fan_inserter.h b/cartographer/mapping_3d/laser_fan_inserter.h similarity index 100% rename from cartographer/cartographer/mapping_3d/laser_fan_inserter.h rename to cartographer/mapping_3d/laser_fan_inserter.h diff --git a/cartographer/cartographer/mapping_3d/laser_fan_inserter_test.cc b/cartographer/mapping_3d/laser_fan_inserter_test.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/laser_fan_inserter_test.cc rename to cartographer/mapping_3d/laser_fan_inserter_test.cc diff --git a/cartographer/cartographer/mapping_3d/local_trajectory_builder.cc b/cartographer/mapping_3d/local_trajectory_builder.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/local_trajectory_builder.cc rename to cartographer/mapping_3d/local_trajectory_builder.cc diff --git a/cartographer/cartographer/mapping_3d/local_trajectory_builder.h b/cartographer/mapping_3d/local_trajectory_builder.h similarity index 100% rename from cartographer/cartographer/mapping_3d/local_trajectory_builder.h rename to cartographer/mapping_3d/local_trajectory_builder.h diff --git a/cartographer/cartographer/mapping_3d/local_trajectory_builder_interface.h b/cartographer/mapping_3d/local_trajectory_builder_interface.h similarity index 100% rename from cartographer/cartographer/mapping_3d/local_trajectory_builder_interface.h rename to cartographer/mapping_3d/local_trajectory_builder_interface.h diff --git a/cartographer/cartographer/mapping_3d/local_trajectory_builder_options.cc b/cartographer/mapping_3d/local_trajectory_builder_options.cc similarity index 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a/cartographer/cartographer/mapping_3d/motion_filter_test.cc b/cartographer/mapping_3d/motion_filter_test.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/motion_filter_test.cc rename to cartographer/mapping_3d/motion_filter_test.cc diff --git a/cartographer/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc b/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc rename to cartographer/mapping_3d/optimizing_local_trajectory_builder.cc diff --git a/cartographer/cartographer/mapping_3d/optimizing_local_trajectory_builder.h b/cartographer/mapping_3d/optimizing_local_trajectory_builder.h similarity index 100% rename from cartographer/cartographer/mapping_3d/optimizing_local_trajectory_builder.h rename to cartographer/mapping_3d/optimizing_local_trajectory_builder.h diff --git a/cartographer/cartographer/mapping_3d/optimizing_local_trajectory_builder_options.cc b/cartographer/mapping_3d/optimizing_local_trajectory_builder_options.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/optimizing_local_trajectory_builder_options.cc rename to cartographer/mapping_3d/optimizing_local_trajectory_builder_options.cc diff --git a/cartographer/cartographer/mapping_3d/optimizing_local_trajectory_builder_options.h b/cartographer/mapping_3d/optimizing_local_trajectory_builder_options.h similarity index 100% rename from cartographer/cartographer/mapping_3d/optimizing_local_trajectory_builder_options.h rename to cartographer/mapping_3d/optimizing_local_trajectory_builder_options.h diff --git a/cartographer/cartographer/mapping_3d/proto/CMakeLists.txt b/cartographer/mapping_3d/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping_3d/proto/CMakeLists.txt rename to cartographer/mapping_3d/proto/CMakeLists.txt diff --git a/cartographer/cartographer/mapping_3d/proto/kalman_local_trajectory_builder_options.proto b/cartographer/mapping_3d/proto/kalman_local_trajectory_builder_options.proto similarity index 100% rename from cartographer/cartographer/mapping_3d/proto/kalman_local_trajectory_builder_options.proto rename to cartographer/mapping_3d/proto/kalman_local_trajectory_builder_options.proto diff --git a/cartographer/cartographer/mapping_3d/proto/laser_fan_inserter_options.proto b/cartographer/mapping_3d/proto/laser_fan_inserter_options.proto similarity index 100% rename from cartographer/cartographer/mapping_3d/proto/laser_fan_inserter_options.proto rename to cartographer/mapping_3d/proto/laser_fan_inserter_options.proto diff --git a/cartographer/cartographer/mapping_3d/proto/local_trajectory_builder_options.proto b/cartographer/mapping_3d/proto/local_trajectory_builder_options.proto similarity index 100% rename from cartographer/cartographer/mapping_3d/proto/local_trajectory_builder_options.proto rename to cartographer/mapping_3d/proto/local_trajectory_builder_options.proto diff --git a/cartographer/cartographer/mapping_3d/proto/motion_filter_options.proto b/cartographer/mapping_3d/proto/motion_filter_options.proto similarity index 100% rename from cartographer/cartographer/mapping_3d/proto/motion_filter_options.proto rename to cartographer/mapping_3d/proto/motion_filter_options.proto diff --git a/cartographer/cartographer/mapping_3d/proto/optimizing_local_trajectory_builder_options.proto b/cartographer/mapping_3d/proto/optimizing_local_trajectory_builder_options.proto similarity index 100% rename from cartographer/cartographer/mapping_3d/proto/optimizing_local_trajectory_builder_options.proto rename to cartographer/mapping_3d/proto/optimizing_local_trajectory_builder_options.proto diff --git a/cartographer/cartographer/mapping_3d/proto/submaps_options.proto b/cartographer/mapping_3d/proto/submaps_options.proto similarity index 100% rename from cartographer/cartographer/mapping_3d/proto/submaps_options.proto rename to cartographer/mapping_3d/proto/submaps_options.proto diff --git a/cartographer/cartographer/mapping_3d/rotation_cost_function.h b/cartographer/mapping_3d/rotation_cost_function.h similarity index 100% rename from cartographer/cartographer/mapping_3d/rotation_cost_function.h rename to cartographer/mapping_3d/rotation_cost_function.h diff --git a/cartographer/cartographer/mapping_3d/scan_matching/CMakeLists.txt b/cartographer/mapping_3d/scan_matching/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/CMakeLists.txt rename to cartographer/mapping_3d/scan_matching/CMakeLists.txt diff --git a/cartographer/cartographer/mapping_3d/scan_matching/ceres_scan_matcher.cc b/cartographer/mapping_3d/scan_matching/ceres_scan_matcher.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/ceres_scan_matcher.cc rename to cartographer/mapping_3d/scan_matching/ceres_scan_matcher.cc diff --git a/cartographer/cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h b/cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h rename to cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h diff --git a/cartographer/cartographer/mapping_3d/scan_matching/ceres_scan_matcher_test.cc b/cartographer/mapping_3d/scan_matching/ceres_scan_matcher_test.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/ceres_scan_matcher_test.cc rename to cartographer/mapping_3d/scan_matching/ceres_scan_matcher_test.cc diff --git a/cartographer/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.cc b/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.cc rename to cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.cc diff --git a/cartographer/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.h b/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.h similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.h rename to cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.h diff --git a/cartographer/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_test.cc b/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_test.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_test.cc rename to cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_test.cc diff --git a/cartographer/cartographer/mapping_3d/scan_matching/interpolated_grid.h b/cartographer/mapping_3d/scan_matching/interpolated_grid.h similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/interpolated_grid.h rename to cartographer/mapping_3d/scan_matching/interpolated_grid.h diff --git a/cartographer/cartographer/mapping_3d/scan_matching/interpolated_grid_test.cc b/cartographer/mapping_3d/scan_matching/interpolated_grid_test.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/interpolated_grid_test.cc rename to cartographer/mapping_3d/scan_matching/interpolated_grid_test.cc diff --git a/cartographer/cartographer/mapping_3d/scan_matching/occupied_space_cost_functor.h b/cartographer/mapping_3d/scan_matching/occupied_space_cost_functor.h similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/occupied_space_cost_functor.h rename to cartographer/mapping_3d/scan_matching/occupied_space_cost_functor.h diff --git a/cartographer/cartographer/mapping_3d/scan_matching/precomputation_grid.cc b/cartographer/mapping_3d/scan_matching/precomputation_grid.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/precomputation_grid.cc rename to cartographer/mapping_3d/scan_matching/precomputation_grid.cc diff --git a/cartographer/cartographer/mapping_3d/scan_matching/precomputation_grid.h b/cartographer/mapping_3d/scan_matching/precomputation_grid.h similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/precomputation_grid.h rename to cartographer/mapping_3d/scan_matching/precomputation_grid.h diff --git a/cartographer/cartographer/mapping_3d/scan_matching/precomputation_grid_test.cc b/cartographer/mapping_3d/scan_matching/precomputation_grid_test.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/precomputation_grid_test.cc rename to cartographer/mapping_3d/scan_matching/precomputation_grid_test.cc diff --git a/cartographer/cartographer/mapping_3d/scan_matching/proto/CMakeLists.txt b/cartographer/mapping_3d/scan_matching/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/proto/CMakeLists.txt rename to cartographer/mapping_3d/scan_matching/proto/CMakeLists.txt diff --git a/cartographer/cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.proto b/cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.proto similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.proto rename to cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.proto diff --git a/cartographer/cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options.proto b/cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options.proto similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options.proto rename to cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options.proto diff --git a/cartographer/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher.cc b/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher.cc rename to cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher.cc diff --git a/cartographer/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher.h b/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher.h similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher.h rename to cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher.h diff --git a/cartographer/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_test.cc b/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_test.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_test.cc rename to cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_test.cc diff --git a/cartographer/cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor.h b/cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor.h similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor.h rename to cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor.h diff --git a/cartographer/cartographer/mapping_3d/scan_matching/rotational_scan_matcher.cc b/cartographer/mapping_3d/scan_matching/rotational_scan_matcher.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/rotational_scan_matcher.cc rename to cartographer/mapping_3d/scan_matching/rotational_scan_matcher.cc diff --git a/cartographer/cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h b/cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h rename to cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h diff --git a/cartographer/cartographer/mapping_3d/scan_matching/translation_delta_cost_functor.h b/cartographer/mapping_3d/scan_matching/translation_delta_cost_functor.h similarity index 100% rename from cartographer/cartographer/mapping_3d/scan_matching/translation_delta_cost_functor.h rename to cartographer/mapping_3d/scan_matching/translation_delta_cost_functor.h diff --git a/cartographer/cartographer/mapping_3d/sparse_pose_graph.cc b/cartographer/mapping_3d/sparse_pose_graph.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/sparse_pose_graph.cc rename to cartographer/mapping_3d/sparse_pose_graph.cc diff --git a/cartographer/cartographer/mapping_3d/sparse_pose_graph.h b/cartographer/mapping_3d/sparse_pose_graph.h similarity index 100% rename from cartographer/cartographer/mapping_3d/sparse_pose_graph.h rename to cartographer/mapping_3d/sparse_pose_graph.h diff --git a/cartographer/cartographer/mapping_3d/sparse_pose_graph/CMakeLists.txt b/cartographer/mapping_3d/sparse_pose_graph/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/mapping_3d/sparse_pose_graph/CMakeLists.txt rename to cartographer/mapping_3d/sparse_pose_graph/CMakeLists.txt diff --git a/cartographer/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc b/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc rename to cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc diff --git a/cartographer/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h b/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h similarity index 100% rename from cartographer/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h rename to cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h diff --git a/cartographer/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc rename to cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc diff --git a/cartographer/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h similarity index 100% rename from cartographer/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h rename to cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h diff --git a/cartographer/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc rename to cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc diff --git a/cartographer/cartographer/mapping_3d/submaps.cc b/cartographer/mapping_3d/submaps.cc similarity index 100% rename from cartographer/cartographer/mapping_3d/submaps.cc rename to cartographer/mapping_3d/submaps.cc diff --git a/cartographer/cartographer/mapping_3d/submaps.h b/cartographer/mapping_3d/submaps.h similarity index 100% rename from cartographer/cartographer/mapping_3d/submaps.h rename to cartographer/mapping_3d/submaps.h diff --git a/cartographer/cartographer/mapping_3d/translation_cost_function.h b/cartographer/mapping_3d/translation_cost_function.h similarity index 100% rename from cartographer/cartographer/mapping_3d/translation_cost_function.h rename to cartographer/mapping_3d/translation_cost_function.h diff --git a/cartographer/cartographer/proto/CMakeLists.txt b/cartographer/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/proto/CMakeLists.txt rename to cartographer/proto/CMakeLists.txt diff --git a/cartographer/cartographer/proto/trajectory.proto b/cartographer/proto/trajectory.proto similarity index 100% rename from cartographer/cartographer/proto/trajectory.proto rename to cartographer/proto/trajectory.proto diff --git a/cartographer/cartographer/sensor/CMakeLists.txt b/cartographer/sensor/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/sensor/CMakeLists.txt rename to cartographer/sensor/CMakeLists.txt diff --git a/cartographer/cartographer/sensor/compressed_point_cloud.cc b/cartographer/sensor/compressed_point_cloud.cc similarity index 100% rename from cartographer/cartographer/sensor/compressed_point_cloud.cc rename to cartographer/sensor/compressed_point_cloud.cc diff --git a/cartographer/cartographer/sensor/compressed_point_cloud.h b/cartographer/sensor/compressed_point_cloud.h similarity index 100% rename from cartographer/cartographer/sensor/compressed_point_cloud.h rename to cartographer/sensor/compressed_point_cloud.h diff --git a/cartographer/cartographer/sensor/compressed_point_cloud_test.cc b/cartographer/sensor/compressed_point_cloud_test.cc similarity index 100% rename from cartographer/cartographer/sensor/compressed_point_cloud_test.cc rename to cartographer/sensor/compressed_point_cloud_test.cc diff --git a/cartographer/cartographer/sensor/configuration.cc b/cartographer/sensor/configuration.cc similarity index 100% rename from cartographer/cartographer/sensor/configuration.cc rename to cartographer/sensor/configuration.cc diff --git a/cartographer/cartographer/sensor/configuration.h b/cartographer/sensor/configuration.h similarity index 100% rename from cartographer/cartographer/sensor/configuration.h rename to cartographer/sensor/configuration.h diff --git a/cartographer/cartographer/sensor/laser.cc b/cartographer/sensor/laser.cc similarity index 100% rename from cartographer/cartographer/sensor/laser.cc rename to cartographer/sensor/laser.cc diff --git a/cartographer/cartographer/sensor/laser.h b/cartographer/sensor/laser.h similarity index 100% rename from cartographer/cartographer/sensor/laser.h rename to cartographer/sensor/laser.h diff --git a/cartographer/cartographer/sensor/laser_test.cc b/cartographer/sensor/laser_test.cc similarity index 100% rename from cartographer/cartographer/sensor/laser_test.cc rename to cartographer/sensor/laser_test.cc diff --git a/cartographer/cartographer/sensor/point_cloud.cc b/cartographer/sensor/point_cloud.cc similarity index 100% rename from cartographer/cartographer/sensor/point_cloud.cc rename to cartographer/sensor/point_cloud.cc diff --git a/cartographer/cartographer/sensor/point_cloud.h b/cartographer/sensor/point_cloud.h similarity index 100% rename from cartographer/cartographer/sensor/point_cloud.h rename to cartographer/sensor/point_cloud.h diff --git a/cartographer/cartographer/sensor/point_cloud_test.cc b/cartographer/sensor/point_cloud_test.cc similarity index 100% rename from cartographer/cartographer/sensor/point_cloud_test.cc rename to cartographer/sensor/point_cloud_test.cc diff --git a/cartographer/cartographer/sensor/proto/CMakeLists.txt b/cartographer/sensor/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/sensor/proto/CMakeLists.txt rename to cartographer/sensor/proto/CMakeLists.txt diff --git a/cartographer/cartographer/sensor/proto/adaptive_voxel_filter_options.proto b/cartographer/sensor/proto/adaptive_voxel_filter_options.proto similarity index 100% rename from cartographer/cartographer/sensor/proto/adaptive_voxel_filter_options.proto rename to cartographer/sensor/proto/adaptive_voxel_filter_options.proto diff --git a/cartographer/cartographer/sensor/proto/configuration.proto b/cartographer/sensor/proto/configuration.proto similarity index 100% rename from cartographer/cartographer/sensor/proto/configuration.proto rename to cartographer/sensor/proto/configuration.proto diff --git a/cartographer/cartographer/sensor/proto/sensor.proto b/cartographer/sensor/proto/sensor.proto similarity index 100% rename from cartographer/cartographer/sensor/proto/sensor.proto rename to cartographer/sensor/proto/sensor.proto diff --git a/cartographer/cartographer/sensor/sensor_packet_period_histogram_builder.cc b/cartographer/sensor/sensor_packet_period_histogram_builder.cc similarity index 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a/cartographer/cartographer/sensor/voxel_filter_test.cc b/cartographer/sensor/voxel_filter_test.cc similarity index 100% rename from cartographer/cartographer/sensor/voxel_filter_test.cc rename to cartographer/sensor/voxel_filter_test.cc diff --git a/cartographer/cartographer/transform/CMakeLists.txt b/cartographer/transform/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/transform/CMakeLists.txt rename to cartographer/transform/CMakeLists.txt diff --git a/cartographer/cartographer/transform/proto/CMakeLists.txt b/cartographer/transform/proto/CMakeLists.txt similarity index 100% rename from cartographer/cartographer/transform/proto/CMakeLists.txt rename to cartographer/transform/proto/CMakeLists.txt diff --git a/cartographer/cartographer/transform/proto/transform.proto b/cartographer/transform/proto/transform.proto similarity index 100% rename from cartographer/cartographer/transform/proto/transform.proto rename to cartographer/transform/proto/transform.proto diff --git a/cartographer/cartographer/transform/rigid_transform.cc b/cartographer/transform/rigid_transform.cc similarity index 100% rename from cartographer/cartographer/transform/rigid_transform.cc rename to cartographer/transform/rigid_transform.cc diff --git a/cartographer/cartographer/transform/rigid_transform.h b/cartographer/transform/rigid_transform.h similarity index 100% rename from cartographer/cartographer/transform/rigid_transform.h rename to cartographer/transform/rigid_transform.h diff --git a/cartographer/cartographer/transform/rigid_transform_test_helpers.h b/cartographer/transform/rigid_transform_test_helpers.h similarity index 100% rename from cartographer/cartographer/transform/rigid_transform_test_helpers.h rename to cartographer/transform/rigid_transform_test_helpers.h diff --git a/cartographer/cartographer/transform/transform.cc b/cartographer/transform/transform.cc similarity index 100% rename from cartographer/cartographer/transform/transform.cc rename to 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b/cartographer/transform/transform_interpolation_buffer_test.cc similarity index 100% rename from cartographer/cartographer/transform/transform_interpolation_buffer_test.cc rename to cartographer/transform/transform_interpolation_buffer_test.cc diff --git a/cartographer/cartographer/transform/transform_test.cc b/cartographer/transform/transform_test.cc similarity index 100% rename from cartographer/cartographer/transform/transform_test.cc rename to cartographer/transform/transform_test.cc diff --git a/cartographer/cmake/functions.cmake b/cmake/functions.cmake similarity index 100% rename from cartographer/cmake/functions.cmake rename to cmake/functions.cmake diff --git a/cartographer/cmake/modules/FindLuaGoogle.cmake b/cmake/modules/FindLuaGoogle.cmake similarity index 100% rename from cartographer/cmake/modules/FindLuaGoogle.cmake rename to cmake/modules/FindLuaGoogle.cmake diff --git a/cartographer/cmake/modules/FindSphinx.cmake b/cmake/modules/FindSphinx.cmake similarity index 100% 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cartographer/doc/CMakeLists.txt rename to doc/CMakeLists.txt diff --git a/cartographer/doc/source/conf.py b/doc/source/conf.py similarity index 100% rename from cartographer/doc/source/conf.py rename to doc/source/conf.py diff --git a/cartographer/doc/source/index.rst b/doc/source/index.rst similarity index 100% rename from cartographer/doc/source/index.rst rename to doc/source/index.rst diff --git a/cartographer/package.xml b/package.xml similarity index 100% rename from cartographer/package.xml rename to package.xml diff --git a/cartographer/utils/update_cmakelists.py b/utils/update_cmakelists.py similarity index 100% rename from cartographer/utils/update_cmakelists.py rename to utils/update_cmakelists.py