From c5416068dd06ac4ca732ed53db225204b25ec05b Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@lyft.com>
Date: Mon, 14 Sep 2020 12:17:15 +0200
Subject: [PATCH] Move proto files out of 2d/3d directories. (#1749)

This is to make it possible to use the proto definitions
from Python where the directory structure otherwise
prevents them from being imported in the usual way.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
---
 cartographer/io/hybrid_grid_points_processor.h            | 2 +-
 cartographer/io/probability_grid_points_processor.h       | 2 +-
 cartographer/mapping/2d/grid_2d.h                         | 4 ++--
 cartographer/mapping/2d/map_limits.h                      | 2 +-
 .../mapping/2d/probability_grid_range_data_inserter_2d.h  | 2 +-
 cartographer/mapping/2d/submap_2d.h                       | 2 +-
 cartographer/mapping/2d/tsdf_range_data_inserter_2d.h     | 4 ++--
 cartographer/mapping/2d/xy_index.h                        | 2 +-
 cartographer/mapping/3d/hybrid_grid.h                     | 2 +-
 cartographer/mapping/3d/range_data_inserter_3d.h          | 2 +-
 cartographer/mapping/3d/submap_3d.h                       | 2 +-
 .../mapping/internal/2d/local_trajectory_builder_2d.h     | 2 +-
 .../internal/2d/local_trajectory_builder_options_2d.h     | 2 +-
 cartographer/mapping/internal/2d/normal_estimation_2d.h   | 2 +-
 .../mapping/internal/3d/local_trajectory_builder_3d.cc    | 8 ++++----
 .../mapping/internal/3d/local_trajectory_builder_3d.h     | 2 +-
 .../internal/3d/local_trajectory_builder_options_3d.h     | 2 +-
 .../3d/scan_matching/fast_correlative_scan_matcher_3d.cc  | 2 +-
 .../mapping/internal/constraints/constraint_builder_2d.cc | 4 ++--
 .../mapping/internal/constraints/constraint_builder_3d.cc | 4 ++--
 .../proto/{2d/cell_limits.proto => cell_limits_2d.proto}  | 0
 cartographer/mapping/proto/{2d => }/grid_2d.proto         | 6 +++---
 cartographer/mapping/proto/{2d => }/grid_2d_options.proto | 0
 cartographer/mapping/proto/{3d => }/hybrid_grid.proto     | 0
 .../{2d => }/local_trajectory_builder_options_2d.proto    | 2 +-
 .../{3d => }/local_trajectory_builder_options_3d.proto    | 2 +-
 cartographer/mapping/proto/{2d => }/map_limits.proto      | 2 +-
 .../proto/{2d => }/normal_estimation_options_2d.proto     | 0
 .../mapping/proto/{2d => }/probability_grid.proto         | 0
 .../probability_grid_range_data_inserter_options_2d.proto | 0
 .../mapping/proto/range_data_inserter_options.proto       | 4 ++--
 .../proto/{3d => }/range_data_inserter_options_3d.proto   | 0
 cartographer/mapping/proto/submap.proto                   | 4 ++--
 .../mapping/proto/{2d => }/submaps_options_2d.proto       | 2 +-
 .../mapping/proto/{3d => }/submaps_options_3d.proto       | 2 +-
 .../mapping/proto/trajectory_builder_options.proto        | 4 ++--
 cartographer/mapping/proto/{2d => }/tsdf_2d.proto         | 0
 .../{2d => }/tsdf_range_data_inserter_options_2d.proto    | 2 +-
 cartographer/mapping/range_data_inserter_interface.h      | 2 +-
 39 files changed, 43 insertions(+), 43 deletions(-)
 rename cartographer/mapping/proto/{2d/cell_limits.proto => cell_limits_2d.proto} (100%)
 rename cartographer/mapping/proto/{2d => }/grid_2d.proto (86%)
 rename cartographer/mapping/proto/{2d => }/grid_2d_options.proto (100%)
 rename cartographer/mapping/proto/{3d => }/hybrid_grid.proto (100%)
 rename cartographer/mapping/proto/{2d => }/local_trajectory_builder_options_2d.proto (98%)
 rename cartographer/mapping/proto/{3d => }/local_trajectory_builder_options_3d.proto (98%)
 rename cartographer/mapping/proto/{2d => }/map_limits.proto (93%)
 rename cartographer/mapping/proto/{2d => }/normal_estimation_options_2d.proto (100%)
 rename cartographer/mapping/proto/{2d => }/probability_grid.proto (100%)
 rename cartographer/mapping/proto/{2d => }/probability_grid_range_data_inserter_options_2d.proto (100%)
 rename cartographer/mapping/proto/{3d => }/range_data_inserter_options_3d.proto (100%)
 rename cartographer/mapping/proto/{2d => }/submaps_options_2d.proto (94%)
 rename cartographer/mapping/proto/{3d => }/submaps_options_3d.proto (94%)
 rename cartographer/mapping/proto/{2d => }/tsdf_2d.proto (100%)
 rename cartographer/mapping/proto/{2d => }/tsdf_range_data_inserter_options_2d.proto (95%)

diff --git a/cartographer/io/hybrid_grid_points_processor.h b/cartographer/io/hybrid_grid_points_processor.h
index 0b598b9..8124e40 100644
--- a/cartographer/io/hybrid_grid_points_processor.h
+++ b/cartographer/io/hybrid_grid_points_processor.h
@@ -11,7 +11,7 @@
 #include "cartographer/io/points_processor.h"
 #include "cartographer/mapping/3d/hybrid_grid.h"
 #include "cartographer/mapping/3d/range_data_inserter_3d.h"
-#include "cartographer/mapping/proto/3d/range_data_inserter_options_3d.pb.h"
+#include "cartographer/mapping/proto/range_data_inserter_options_3d.pb.h"
 
 namespace cartographer {
 namespace io {
diff --git a/cartographer/io/probability_grid_points_processor.h b/cartographer/io/probability_grid_points_processor.h
index fe7e74f..2114bf8 100644
--- a/cartographer/io/probability_grid_points_processor.h
+++ b/cartographer/io/probability_grid_points_processor.h
@@ -25,7 +25,7 @@
 #include "cartographer/io/points_processor.h"
 #include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h"
-#include "cartographer/mapping/proto/2d/probability_grid_range_data_inserter_options_2d.pb.h"
+#include "cartographer/mapping/proto/probability_grid_range_data_inserter_options_2d.pb.h"
 #include "cartographer/mapping/proto/trajectory.pb.h"
 #include "cartographer/mapping/value_conversion_tables.h"
 
diff --git a/cartographer/mapping/2d/grid_2d.h b/cartographer/mapping/2d/grid_2d.h
index 527c456..dfea1e5 100644
--- a/cartographer/mapping/2d/grid_2d.h
+++ b/cartographer/mapping/2d/grid_2d.h
@@ -22,9 +22,9 @@
 #include "cartographer/mapping/2d/map_limits.h"
 #include "cartographer/mapping/grid_interface.h"
 #include "cartographer/mapping/probability_values.h"
-#include "cartographer/mapping/proto/2d/grid_2d.pb.h"
-#include "cartographer/mapping/proto/2d/submaps_options_2d.pb.h"
+#include "cartographer/mapping/proto/grid_2d.pb.h"
 #include "cartographer/mapping/proto/submap_visualization.pb.h"
+#include "cartographer/mapping/proto/submaps_options_2d.pb.h"
 #include "cartographer/mapping/value_conversion_tables.h"
 
 namespace cartographer {
diff --git a/cartographer/mapping/2d/map_limits.h b/cartographer/mapping/2d/map_limits.h
index 241fc57..0ad1f3c 100644
--- a/cartographer/mapping/2d/map_limits.h
+++ b/cartographer/mapping/2d/map_limits.h
@@ -24,7 +24,7 @@
 #include "Eigen/Geometry"
 #include "cartographer/common/math.h"
 #include "cartographer/mapping/2d/xy_index.h"
-#include "cartographer/mapping/proto/2d/map_limits.pb.h"
+#include "cartographer/mapping/proto/map_limits.pb.h"
 #include "cartographer/mapping/trajectory_node.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
diff --git a/cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h b/cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h
index 83a04b8..6271094 100644
--- a/cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h
+++ b/cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h
@@ -24,7 +24,7 @@
 #include "cartographer/common/port.h"
 #include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/2d/xy_index.h"
-#include "cartographer/mapping/proto/2d/probability_grid_range_data_inserter_options_2d.pb.h"
+#include "cartographer/mapping/proto/probability_grid_range_data_inserter_options_2d.pb.h"
 #include "cartographer/mapping/range_data_inserter_interface.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
diff --git a/cartographer/mapping/2d/submap_2d.h b/cartographer/mapping/2d/submap_2d.h
index 8ea9097..da30cbb 100644
--- a/cartographer/mapping/2d/submap_2d.h
+++ b/cartographer/mapping/2d/submap_2d.h
@@ -24,9 +24,9 @@
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/mapping/2d/grid_2d.h"
 #include "cartographer/mapping/2d/map_limits.h"
-#include "cartographer/mapping/proto/2d/submaps_options_2d.pb.h"
 #include "cartographer/mapping/proto/serialization.pb.h"
 #include "cartographer/mapping/proto/submap_visualization.pb.h"
+#include "cartographer/mapping/proto/submaps_options_2d.pb.h"
 #include "cartographer/mapping/range_data_inserter_interface.h"
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/mapping/trajectory_node.h"
diff --git a/cartographer/mapping/2d/tsdf_range_data_inserter_2d.h b/cartographer/mapping/2d/tsdf_range_data_inserter_2d.h
index 61a77a2..a3fa5ba 100644
--- a/cartographer/mapping/2d/tsdf_range_data_inserter_2d.h
+++ b/cartographer/mapping/2d/tsdf_range_data_inserter_2d.h
@@ -19,7 +19,7 @@
 
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/mapping/2d/tsdf_2d.h"
-#include "cartographer/mapping/proto/2d/tsdf_range_data_inserter_options_2d.pb.h"
+#include "cartographer/mapping/proto/tsdf_range_data_inserter_options_2d.pb.h"
 #include "cartographer/mapping/range_data_inserter_interface.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
@@ -57,4 +57,4 @@ class TSDFRangeDataInserter2D : public RangeDataInserterInterface {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_TSDF_RANGE_DATA_INSERTER_2D_H_
\ No newline at end of file
+#endif  // CARTOGRAPHER_MAPPING_2D_TSDF_RANGE_DATA_INSERTER_2D_H_
diff --git a/cartographer/mapping/2d/xy_index.h b/cartographer/mapping/2d/xy_index.h
index 64acf27..2899e2d 100644
--- a/cartographer/mapping/2d/xy_index.h
+++ b/cartographer/mapping/2d/xy_index.h
@@ -25,7 +25,7 @@
 #include "Eigen/Core"
 #include "cartographer/common/math.h"
 #include "cartographer/common/port.h"
-#include "cartographer/mapping/proto/2d/cell_limits.pb.h"
+#include "cartographer/mapping/proto/cell_limits_2d.pb.h"
 #include "glog/logging.h"
 
 namespace cartographer {
diff --git a/cartographer/mapping/3d/hybrid_grid.h b/cartographer/mapping/3d/hybrid_grid.h
index 709f279..5b746b5 100644
--- a/cartographer/mapping/3d/hybrid_grid.h
+++ b/cartographer/mapping/3d/hybrid_grid.h
@@ -28,7 +28,7 @@
 #include "cartographer/common/math.h"
 #include "cartographer/common/port.h"
 #include "cartographer/mapping/probability_values.h"
-#include "cartographer/mapping/proto/3d/hybrid_grid.pb.h"
+#include "cartographer/mapping/proto/hybrid_grid.pb.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 
diff --git a/cartographer/mapping/3d/range_data_inserter_3d.h b/cartographer/mapping/3d/range_data_inserter_3d.h
index b6b0bcd..d21d2fa 100644
--- a/cartographer/mapping/3d/range_data_inserter_3d.h
+++ b/cartographer/mapping/3d/range_data_inserter_3d.h
@@ -18,7 +18,7 @@
 #define CARTOGRAPHER_MAPPING_3D_RANGE_DATA_INSERTER_3D_H_
 
 #include "cartographer/mapping/3d/hybrid_grid.h"
-#include "cartographer/mapping/proto/3d/range_data_inserter_options_3d.pb.h"
+#include "cartographer/mapping/proto/range_data_inserter_options_3d.pb.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
 
diff --git a/cartographer/mapping/3d/submap_3d.h b/cartographer/mapping/3d/submap_3d.h
index b89da0f..5be68cb 100644
--- a/cartographer/mapping/3d/submap_3d.h
+++ b/cartographer/mapping/3d/submap_3d.h
@@ -26,9 +26,9 @@
 #include "cartographer/mapping/3d/hybrid_grid.h"
 #include "cartographer/mapping/3d/range_data_inserter_3d.h"
 #include "cartographer/mapping/id.h"
-#include "cartographer/mapping/proto/3d/submaps_options_3d.pb.h"
 #include "cartographer/mapping/proto/serialization.pb.h"
 #include "cartographer/mapping/proto/submap_visualization.pb.h"
+#include "cartographer/mapping/proto/submaps_options_3d.pb.h"
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/rigid_transform.h"
diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
index 1a93463..faed1df 100644
--- a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
@@ -27,7 +27,7 @@
 #include "cartographer/mapping/internal/motion_filter.h"
 #include "cartographer/mapping/internal/range_data_collator.h"
 #include "cartographer/mapping/pose_extrapolator.h"
-#include "cartographer/mapping/proto/2d/local_trajectory_builder_options_2d.pb.h"
+#include "cartographer/mapping/proto/local_trajectory_builder_options_2d.pb.h"
 #include "cartographer/metrics/family_factory.h"
 #include "cartographer/sensor/imu_data.h"
 #include "cartographer/sensor/internal/voxel_filter.h"
diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.h b/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.h
index 32fa742..7684920 100644
--- a/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.h
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.h
@@ -18,7 +18,7 @@
 #define CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping/proto/2d/local_trajectory_builder_options_2d.pb.h"
+#include "cartographer/mapping/proto/local_trajectory_builder_options_2d.pb.h"
 
 namespace cartographer {
 namespace mapping {
diff --git a/cartographer/mapping/internal/2d/normal_estimation_2d.h b/cartographer/mapping/internal/2d/normal_estimation_2d.h
index 61e0a2f..9a34426 100644
--- a/cartographer/mapping/internal/2d/normal_estimation_2d.h
+++ b/cartographer/mapping/internal/2d/normal_estimation_2d.h
@@ -19,7 +19,7 @@
 
 #include <vector>
 
-#include "cartographer/mapping/proto/2d/normal_estimation_options_2d.pb.h"
+#include "cartographer/mapping/proto/normal_estimation_options_2d.pb.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/transform.h"
diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
index 07c5aec..773dbce 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
@@ -21,10 +21,10 @@
 #include "absl/memory/memory.h"
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h"
-#include "cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.pb.h"
-#include "cartographer/mapping/proto/3d/submaps_options_3d.pb.h"
-#include "cartographer/mapping/proto/scan_matching//ceres_scan_matcher_options_3d.pb.h"
-#include "cartographer/mapping/proto/scan_matching//real_time_correlative_scan_matcher_options.pb.h"
+#include "cartographer/mapping/proto/local_trajectory_builder_options_3d.pb.h"
+#include "cartographer/mapping/proto/scan_matching/ceres_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/proto/scan_matching/real_time_correlative_scan_matcher_options.pb.h"
+#include "cartographer/mapping/proto/submaps_options_3d.pb.h"
 #include "cartographer/transform/timestamped_transform.h"
 #include "glog/logging.h"
 
diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
index 69f034e..f242c38 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
@@ -27,7 +27,7 @@
 #include "cartographer/mapping/internal/motion_filter.h"
 #include "cartographer/mapping/internal/range_data_collator.h"
 #include "cartographer/mapping/pose_extrapolator_interface.h"
-#include "cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.pb.h"
+#include "cartographer/mapping/proto/local_trajectory_builder_options_3d.pb.h"
 #include "cartographer/metrics/family_factory.h"
 #include "cartographer/sensor/imu_data.h"
 #include "cartographer/sensor/internal/voxel_filter.h"
diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.h b/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.h
index b01b298..e26a6ec 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.h
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.h
@@ -18,7 +18,7 @@
 #define CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_3D_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.pb.h"
+#include "cartographer/mapping/proto/local_trajectory_builder_options_3d.pb.h"
 
 namespace cartographer {
 namespace mapping {
diff --git a/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.cc b/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.cc
index da4bb91..0a0a895 100644
--- a/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.cc
@@ -25,7 +25,7 @@
 #include "absl/memory/memory.h"
 #include "cartographer/common/math.h"
 #include "cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.h"
-#include "cartographer/mapping/proto/scan_matching//fast_correlative_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/proto/scan_matching/fast_correlative_scan_matcher_options_3d.pb.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 
diff --git a/cartographer/mapping/internal/constraints/constraint_builder_2d.cc b/cartographer/mapping/internal/constraints/constraint_builder_2d.cc
index d612e7d..dcdb1d1 100644
--- a/cartographer/mapping/internal/constraints/constraint_builder_2d.cc
+++ b/cartographer/mapping/internal/constraints/constraint_builder_2d.cc
@@ -29,8 +29,8 @@
 #include "absl/memory/memory.h"
 #include "cartographer/common/math.h"
 #include "cartographer/common/thread_pool.h"
-#include "cartographer/mapping/proto/scan_matching//ceres_scan_matcher_options_2d.pb.h"
-#include "cartographer/mapping/proto/scan_matching//fast_correlative_scan_matcher_options_2d.pb.h"
+#include "cartographer/mapping/proto/scan_matching/ceres_scan_matcher_options_2d.pb.h"
+#include "cartographer/mapping/proto/scan_matching/fast_correlative_scan_matcher_options_2d.pb.h"
 #include "cartographer/metrics/counter.h"
 #include "cartographer/metrics/gauge.h"
 #include "cartographer/metrics/histogram.h"
diff --git a/cartographer/mapping/internal/constraints/constraint_builder_3d.cc b/cartographer/mapping/internal/constraints/constraint_builder_3d.cc
index 1672977..878aaa0 100644
--- a/cartographer/mapping/internal/constraints/constraint_builder_3d.cc
+++ b/cartographer/mapping/internal/constraints/constraint_builder_3d.cc
@@ -29,8 +29,8 @@
 #include "absl/memory/memory.h"
 #include "cartographer/common/math.h"
 #include "cartographer/common/thread_pool.h"
-#include "cartographer/mapping/proto/scan_matching//ceres_scan_matcher_options_3d.pb.h"
-#include "cartographer/mapping/proto/scan_matching//fast_correlative_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/proto/scan_matching/ceres_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/proto/scan_matching/fast_correlative_scan_matcher_options_3d.pb.h"
 #include "cartographer/metrics/counter.h"
 #include "cartographer/metrics/gauge.h"
 #include "cartographer/metrics/histogram.h"
diff --git a/cartographer/mapping/proto/2d/cell_limits.proto b/cartographer/mapping/proto/cell_limits_2d.proto
similarity index 100%
rename from cartographer/mapping/proto/2d/cell_limits.proto
rename to cartographer/mapping/proto/cell_limits_2d.proto
diff --git a/cartographer/mapping/proto/2d/grid_2d.proto b/cartographer/mapping/proto/grid_2d.proto
similarity index 86%
rename from cartographer/mapping/proto/2d/grid_2d.proto
rename to cartographer/mapping/proto/grid_2d.proto
index 70b246d..010d5b6 100644
--- a/cartographer/mapping/proto/2d/grid_2d.proto
+++ b/cartographer/mapping/proto/grid_2d.proto
@@ -16,9 +16,9 @@ syntax = "proto3";
 
 package cartographer.mapping.proto;
 
-import "cartographer/mapping/proto/2d/map_limits.proto";
-import "cartographer/mapping/proto/2d/probability_grid.proto";
-import "cartographer/mapping/proto/2d/tsdf_2d.proto";
+import "cartographer/mapping/proto/map_limits.proto";
+import "cartographer/mapping/proto/probability_grid.proto";
+import "cartographer/mapping/proto/tsdf_2d.proto";
 
 message Grid2D {
   message CellBox {
diff --git a/cartographer/mapping/proto/2d/grid_2d_options.proto b/cartographer/mapping/proto/grid_2d_options.proto
similarity index 100%
rename from cartographer/mapping/proto/2d/grid_2d_options.proto
rename to cartographer/mapping/proto/grid_2d_options.proto
diff --git a/cartographer/mapping/proto/3d/hybrid_grid.proto b/cartographer/mapping/proto/hybrid_grid.proto
similarity index 100%
rename from cartographer/mapping/proto/3d/hybrid_grid.proto
rename to cartographer/mapping/proto/hybrid_grid.proto
diff --git a/cartographer/mapping/proto/2d/local_trajectory_builder_options_2d.proto b/cartographer/mapping/proto/local_trajectory_builder_options_2d.proto
similarity index 98%
rename from cartographer/mapping/proto/2d/local_trajectory_builder_options_2d.proto
rename to cartographer/mapping/proto/local_trajectory_builder_options_2d.proto
index 470dfe8..6add120 100644
--- a/cartographer/mapping/proto/2d/local_trajectory_builder_options_2d.proto
+++ b/cartographer/mapping/proto/local_trajectory_builder_options_2d.proto
@@ -19,9 +19,9 @@ package cartographer.mapping.proto;
 import "cartographer/mapping/proto/motion_filter_options.proto";
 import "cartographer/mapping/proto/pose_extrapolator_options.proto";
 import "cartographer/sensor/proto/adaptive_voxel_filter_options.proto";
-import "cartographer/mapping/proto/2d/submaps_options_2d.proto";
 import "cartographer/mapping/proto/scan_matching/ceres_scan_matcher_options_2d.proto";
 import "cartographer/mapping/proto/scan_matching/real_time_correlative_scan_matcher_options.proto";
+import "cartographer/mapping/proto/submaps_options_2d.proto";
 
 // NEXT ID: 22
 message LocalTrajectoryBuilderOptions2D {
diff --git a/cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.proto b/cartographer/mapping/proto/local_trajectory_builder_options_3d.proto
similarity index 98%
rename from cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.proto
rename to cartographer/mapping/proto/local_trajectory_builder_options_3d.proto
index 7039ddf..f29debd 100644
--- a/cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.proto
+++ b/cartographer/mapping/proto/local_trajectory_builder_options_3d.proto
@@ -16,11 +16,11 @@ syntax = "proto3";
 
 package cartographer.mapping.proto;
 
-import "cartographer/mapping/proto/3d/submaps_options_3d.proto";
 import "cartographer/mapping/proto/motion_filter_options.proto";
 import "cartographer/mapping/proto/pose_extrapolator_options.proto";
 import "cartographer/mapping/proto/scan_matching/ceres_scan_matcher_options_3d.proto";
 import "cartographer/mapping/proto/scan_matching/real_time_correlative_scan_matcher_options.proto";
+import "cartographer/mapping/proto/submaps_options_3d.proto";
 import "cartographer/sensor/proto/adaptive_voxel_filter_options.proto";
 import "cartographer/sensor/proto/sensor.proto";
 import "cartographer/transform/proto/timestamped_transform.proto";
diff --git a/cartographer/mapping/proto/2d/map_limits.proto b/cartographer/mapping/proto/map_limits.proto
similarity index 93%
rename from cartographer/mapping/proto/2d/map_limits.proto
rename to cartographer/mapping/proto/map_limits.proto
index 56f0a99..53044e6 100644
--- a/cartographer/mapping/proto/2d/map_limits.proto
+++ b/cartographer/mapping/proto/map_limits.proto
@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-import "cartographer/mapping/proto/2d/cell_limits.proto";
+import "cartographer/mapping/proto/cell_limits_2d.proto";
 import "cartographer/transform/proto/transform.proto";
 
 package cartographer.mapping.proto;
diff --git a/cartographer/mapping/proto/2d/normal_estimation_options_2d.proto b/cartographer/mapping/proto/normal_estimation_options_2d.proto
similarity index 100%
rename from cartographer/mapping/proto/2d/normal_estimation_options_2d.proto
rename to cartographer/mapping/proto/normal_estimation_options_2d.proto
diff --git a/cartographer/mapping/proto/2d/probability_grid.proto b/cartographer/mapping/proto/probability_grid.proto
similarity index 100%
rename from cartographer/mapping/proto/2d/probability_grid.proto
rename to cartographer/mapping/proto/probability_grid.proto
diff --git a/cartographer/mapping/proto/2d/probability_grid_range_data_inserter_options_2d.proto b/cartographer/mapping/proto/probability_grid_range_data_inserter_options_2d.proto
similarity index 100%
rename from cartographer/mapping/proto/2d/probability_grid_range_data_inserter_options_2d.proto
rename to cartographer/mapping/proto/probability_grid_range_data_inserter_options_2d.proto
diff --git a/cartographer/mapping/proto/range_data_inserter_options.proto b/cartographer/mapping/proto/range_data_inserter_options.proto
index 7b0d5b1..9470f2c 100644
--- a/cartographer/mapping/proto/range_data_inserter_options.proto
+++ b/cartographer/mapping/proto/range_data_inserter_options.proto
@@ -14,8 +14,8 @@
 
 syntax = "proto3";
 
-import "cartographer/mapping/proto/2d/probability_grid_range_data_inserter_options_2d.proto";
-import "cartographer/mapping/proto/2d/tsdf_range_data_inserter_options_2d.proto";
+import "cartographer/mapping/proto/probability_grid_range_data_inserter_options_2d.proto";
+import "cartographer/mapping/proto/tsdf_range_data_inserter_options_2d.proto";
 
 package cartographer.mapping.proto;
 
diff --git a/cartographer/mapping/proto/3d/range_data_inserter_options_3d.proto b/cartographer/mapping/proto/range_data_inserter_options_3d.proto
similarity index 100%
rename from cartographer/mapping/proto/3d/range_data_inserter_options_3d.proto
rename to cartographer/mapping/proto/range_data_inserter_options_3d.proto
diff --git a/cartographer/mapping/proto/submap.proto b/cartographer/mapping/proto/submap.proto
index 72b4e62..5033127 100644
--- a/cartographer/mapping/proto/submap.proto
+++ b/cartographer/mapping/proto/submap.proto
@@ -16,8 +16,8 @@ syntax = "proto3";
 
 package cartographer.mapping.proto;
 
-import "cartographer/mapping/proto/2d/grid_2d.proto";
-import "cartographer/mapping/proto/3d/hybrid_grid.proto";
+import "cartographer/mapping/proto/grid_2d.proto";
+import "cartographer/mapping/proto/hybrid_grid.proto";
 import "cartographer/transform/proto/transform.proto";
 
 // Serialized state of a Submap2D.
diff --git a/cartographer/mapping/proto/2d/submaps_options_2d.proto b/cartographer/mapping/proto/submaps_options_2d.proto
similarity index 94%
rename from cartographer/mapping/proto/2d/submaps_options_2d.proto
rename to cartographer/mapping/proto/submaps_options_2d.proto
index ebb3c58..65838da 100644
--- a/cartographer/mapping/proto/2d/submaps_options_2d.proto
+++ b/cartographer/mapping/proto/submaps_options_2d.proto
@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-import "cartographer/mapping/proto/2d/grid_2d_options.proto";
+import "cartographer/mapping/proto/grid_2d_options.proto";
 import "cartographer/mapping/proto/range_data_inserter_options.proto";
 
 package cartographer.mapping.proto;
diff --git a/cartographer/mapping/proto/3d/submaps_options_3d.proto b/cartographer/mapping/proto/submaps_options_3d.proto
similarity index 94%
rename from cartographer/mapping/proto/3d/submaps_options_3d.proto
rename to cartographer/mapping/proto/submaps_options_3d.proto
index 29b4db8..822c6d9 100644
--- a/cartographer/mapping/proto/3d/submaps_options_3d.proto
+++ b/cartographer/mapping/proto/submaps_options_3d.proto
@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-import "cartographer/mapping/proto/3d/range_data_inserter_options_3d.proto";
+import "cartographer/mapping/proto/range_data_inserter_options_3d.proto";
 
 package cartographer.mapping.proto;
 
diff --git a/cartographer/mapping/proto/trajectory_builder_options.proto b/cartographer/mapping/proto/trajectory_builder_options.proto
index d6d9c2f..fe20db0 100644
--- a/cartographer/mapping/proto/trajectory_builder_options.proto
+++ b/cartographer/mapping/proto/trajectory_builder_options.proto
@@ -15,8 +15,8 @@
 syntax = "proto3";
 
 import "cartographer/transform/proto/transform.proto";
-import "cartographer/mapping/proto/2d/local_trajectory_builder_options_2d.proto";
-import "cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.proto";
+import "cartographer/mapping/proto/local_trajectory_builder_options_2d.proto";
+import "cartographer/mapping/proto/local_trajectory_builder_options_3d.proto";
 
 package cartographer.mapping.proto;
 
diff --git a/cartographer/mapping/proto/2d/tsdf_2d.proto b/cartographer/mapping/proto/tsdf_2d.proto
similarity index 100%
rename from cartographer/mapping/proto/2d/tsdf_2d.proto
rename to cartographer/mapping/proto/tsdf_2d.proto
diff --git a/cartographer/mapping/proto/2d/tsdf_range_data_inserter_options_2d.proto b/cartographer/mapping/proto/tsdf_range_data_inserter_options_2d.proto
similarity index 95%
rename from cartographer/mapping/proto/2d/tsdf_range_data_inserter_options_2d.proto
rename to cartographer/mapping/proto/tsdf_range_data_inserter_options_2d.proto
index 1b61f15..d3ef1d3 100644
--- a/cartographer/mapping/proto/2d/tsdf_range_data_inserter_options_2d.proto
+++ b/cartographer/mapping/proto/tsdf_range_data_inserter_options_2d.proto
@@ -16,7 +16,7 @@ syntax = "proto3";
 
 package cartographer.mapping.proto;
 
-import "cartographer/mapping/proto/2d/normal_estimation_options_2d.proto";
+import "cartographer/mapping/proto/normal_estimation_options_2d.proto";
 
 message TSDFRangeDataInserterOptions2D {
   // Distance to the surface within the signed distance function is evaluated.
diff --git a/cartographer/mapping/range_data_inserter_interface.h b/cartographer/mapping/range_data_inserter_interface.h
index 5170766..3f3a20e 100644
--- a/cartographer/mapping/range_data_inserter_interface.h
+++ b/cartographer/mapping/range_data_inserter_interface.h
@@ -21,7 +21,7 @@
 #include <vector>
 
 #include "cartographer/mapping/grid_interface.h"
-#include "cartographer/mapping/proto/2d/submaps_options_2d.pb.h"
+#include "cartographer/mapping/proto/submaps_options_2d.pb.h"
 #include "cartographer/sensor/range_data.h"
 
 namespace cartographer {