46 lines
1.9 KiB
ReStructuredText
46 lines
1.9 KiB
ReStructuredText
.. 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
|
|
=================================
|
|
|
|
The pbstream serialization format for 3D has changed to include additional
|
|
data (histograms) in each submap. Code to load old data by migrating
|
|
on-the-fly will be removed soon. Once this happened, users who wish to
|
|
migrate old pbstream files can use a migration tool.
|
|
|
|
The tool is shipped as part of Cartographer's pbstream tool (`source`_) and once
|
|
built can be invoked as follows:::
|
|
|
|
cartographer_pbstream migrate old.pbstream new.pbstream
|
|
|
|
The tool assumes 3D data in the old submap format as input and converts it
|
|
to the currently used format version.
|
|
|
|
Migrating pre-1.0 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,
|
|
migration using an older version of the migration tool is necessary.
|
|
The current tool does not support this migration anymore. Please use
|
|
the version at Git SHA 6c889490e245cc5d9da15023249c6fc7119def3f.
|
|
|
|
.. _RFC-0021: https://github.com/cartographer-project/rfcs/blob/master/text/0021-serialization-format.md
|
|
.. _source: https://github.com/cartographer-project/cartographer/blob/master/cartographer/io/pbstream_main.cc
|