12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Remove legacy compatibility proto files. (#1736) 

Not needed anymore after the recent removal of that feature, see #1709.

Signed-off-by: Michael Grupp <grupp@magazino.eu>
master
Michael Grupp 2020-08-21 14:20:31 +02:00 committed by GitHub
parent 1c8c1d144e
commit 98d957ae43
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 0 additions and 126 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
cartographer/mapping/map_builder.cc
View File

@ -28,7 +28,6 @@
#include "cartographer/mapping/internal/3d/pose_graph_3d.h" #include "cartographer/mapping/internal/3d/pose_graph_3d.h"
#include "cartographer/mapping/internal/collated_trajectory_builder.h" #include "cartographer/mapping/internal/collated_trajectory_builder.h"
#include "cartographer/mapping/internal/global_trajectory_builder.h" #include "cartographer/mapping/internal/global_trajectory_builder.h"
#include "cartographer/mapping/proto/internal/legacy_serialized_data.pb.h"
#include "cartographer/sensor/internal/collator.h" #include "cartographer/sensor/internal/collator.h"
#include "cartographer/sensor/internal/trajectory_collator.h" #include "cartographer/sensor/internal/trajectory_collator.h"
#include "cartographer/sensor/internal/voxel_filter.h" #include "cartographer/sensor/internal/voxel_filter.h"

37
cartographer/mapping/proto/internal/legacy_probability_grid.proto
View File

@ -1,37 +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.
syntax = "proto3";
package cartographer.mapping.proto;
import "cartographer/mapping/proto/2d/map_limits.proto";
// The legacy probability grid that was used before the generalized
// grid structure was introduced.
message LegacyProbabilityGrid {
message CellBox {
int32 max_x = 1;
int32 max_y = 2;
int32 min_x = 3;
int32 min_y = 4;
}
MapLimits limits = 1;
// These values are actually int16s, but protos don't have a native int16
// type.
repeated int32 cells = 2;
CellBox known_cells_box = 8;
}

42
cartographer/mapping/proto/internal/legacy_serialized_data.proto
View File

@ -1,42 +0,0 @@
// 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.
syntax = "proto3";
package cartographer.mapping.proto;
import "cartographer/mapping/proto/serialization.proto";
import "cartographer/mapping/proto/internal/legacy_submap.proto";
message LegacySerializedData {
Submap submap = 1;
Node node = 2;
ImuData imu_data = 3;
OdometryData odometry_data = 4;
FixedFramePoseData fixed_frame_pose_data = 5;
TrajectoryData trajectory_data = 6;
LandmarkData landmark_data = 7;
}
// For backwards compatibility with serialized data containing the legacy
// submap format that did not yet use the generalized 2D grid format.
message LegacySerializedDataLegacySubmap {
LegacySubmap submap = 1;
Node node = 2;
ImuData imu_data = 3;
OdometryData odometry_data = 4;
FixedFramePoseData fixed_frame_pose_data = 5;
TrajectoryData trajectory_data = 6;
LandmarkData landmark_data = 7;
}

46
cartographer/mapping/proto/internal/legacy_submap.proto
View File

@ -1,46 +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.
syntax = "proto3";
package cartographer.mapping.proto;
import "cartographer/mapping/proto/pose_graph.proto";
import "cartographer/mapping/proto/internal/legacy_probability_grid.proto";
import "cartographer/mapping/proto/3d/hybrid_grid.proto";
import "cartographer/transform/proto/transform.proto";
// Serialized state of a Submap2D.
// Uses the legacy, non-generalized probability grid format.
message LegacySubmap2D {
transform.proto.Rigid3d local_pose = 1;
int32 num_range_data = 2;
bool finished = 3;
LegacyProbabilityGrid probability_grid = 4;
}
// Serialized state of a Submap3D.
message LegacySubmap3D {
transform.proto.Rigid3d local_pose = 1;
int32 num_range_data = 2;
bool finished = 3;
HybridGrid high_resolution_hybrid_grid = 4;
HybridGrid low_resolution_hybrid_grid = 5;
}
message LegacySubmap {
SubmapId submap_id = 1;
LegacySubmap2D submap_2d = 2;
LegacySubmap3D submap_3d = 3;
}