Adding short description of pbstream migration tool (#1181)

Adding a section to the docs, describing the existence and usage of the serialization migration tool.
master
Sebastian Klose 2018-06-04 10:39:27 +02:00 committed by Wally B. Feed
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evaluation evaluation
terminology terminology
cost_functions cost_functions
pbstream_migration
`Cartographer`_ is a system that provides real-time simultaneous localization `Cartographer`_ is a system that provides real-time simultaneous localization
and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor

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.. Copyright 2018 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.
=================================
Migration tool for pbstream files
=================================
With the update of the pbstream serialization format as discussed in
`RFC-0021`_, previously serialized pbstream files are not loadable in
Cartographer 1.0 anymore.
In order to enable users to reuse previously generated pbstream files, we
provide a migration tool which converts pbstreams from Cartographer 0.3 to the
new serialization format used in Cartographer 1.0.
The tool is shipped as part of Cartographer (`source`_) and once built can be
invoked as follows:::
cartographer_migrate_serialization_format \
--original_pbstream_file=old.pbstream \
--output_pbstream_file=new.pbstream
The tool assumes that the pbstream provided via the ``--original_pbstream_file``
argument, follows the serialization format of Cartographer 0.3. The resulting
1.0 pbstream will be saved to the ``--output_pbstream_file`` location.
.. _RFC-0021: https://github.com/googlecartographer/rfcs/blob/master/text/0021-serialization-format.md
.. _source: https://github.com/googlecartographer/cartographer/blob/master/cartographer/io/migrate_serialization_format_main.cc