53 lines
2.0 KiB
C++
53 lines
2.0 KiB
C++
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/io/proto_stream.h"
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#include "cartographer/io/serialization_format_migration.h"
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#include "gflags/gflags.h"
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#include "glog/logging.h"
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DEFINE_string(
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original_pbstream_file, "",
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"Path to the pbstream file that will be migrated to the new version.");
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DEFINE_string(output_pbstream_file, "",
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"Output filename for the migrated pbstream.");
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int main(int argc, char** argv) {
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google::InitGoogleLogging(argv[0]);
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FLAGS_logtostderr = true;
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google::SetUsageMessage(
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"\n\n"
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"Tool for migrating files that use the serialization output of "
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"Cartographer 0.3, to the new serialization format, which includes a "
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"header (Version 1).");
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google::ParseCommandLineFlags(&argc, &argv, true);
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if (FLAGS_original_pbstream_file.empty() ||
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FLAGS_output_pbstream_file.empty()) {
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google::ShowUsageWithFlagsRestrict(argv[0], "migrate_serialization_format");
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return EXIT_FAILURE;
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}
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cartographer::io::ProtoStreamReader input(FLAGS_original_pbstream_file);
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cartographer::io::ProtoStreamWriter output(FLAGS_output_pbstream_file);
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LOG(INFO) << "Migrating old serialization format in \""
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<< FLAGS_original_pbstream_file
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<< "\" to new serialization format in \""
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<< FLAGS_output_pbstream_file << "\"";
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cartographer::io::MigrateStreamFormatToVersion1(&input, &output);
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return EXIT_SUCCESS;
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}
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