Follow googlecartographer/cartographer#1174 (#883)

Update all users to the new serialization format [RFC 0021](https://github.com/googlecartographer/rfcs/blob/master/text/0021-serialization-format.md)

See also corresponding change in cartographer: googlecartographer/cartographer#1174

cartographer_ros/cartographer_ros/assets_writer.cc

@@ -27,6 +27,7 @@
 #include "cartographer/io/points_processor.h"
 #include "cartographer/io/points_processor_pipeline_builder.h"
 #include "cartographer/io/proto_stream.h"
+#include "cartographer/io/proto_stream_deserializer.h"
 #include "cartographer/mapping/proto/pose_graph.pb.h"
 #include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
 #include "cartographer/sensor/point_cloud.h"
@@ -54,14 +55,6 @@ namespace {
 constexpr char kTfStaticTopic[] = "/tf_static";
 namespace carto = ::cartographer;
 
-carto::mapping::proto::PoseGraph LoadPoseGraph(
-    const std::string& pose_graph_filename) {
-  carto::mapping::proto::PoseGraph pose_graph_proto;
-  carto::io::ProtoStreamReader reader(pose_graph_filename);
-  CHECK(reader.ReadProto(&pose_graph_proto));
-  return pose_graph_proto;
-}
-
 std::unique_ptr<carto::io::PointsProcessorPipelineBuilder>
 CreatePipelineBuilder(
     const std::vector<carto::mapping::proto::Trajectory>& trajectories,
@@ -147,7 +140,8 @@ AssetsWriter::AssetsWriter(const std::string& pose_graph_filename,
                            const std::vector<std::string>& bag_filenames,
                            const std::string& output_file_prefix)
     : bag_filenames_(bag_filenames),
-      pose_graph_(LoadPoseGraph(pose_graph_filename)) {
+      pose_graph_(
+          carto::io::DeserializePoseGraphFromFile(pose_graph_filename)) {
   CHECK_EQ(pose_graph_.trajectory_size(), bag_filenames_.size())
       << "Pose graphs contains " << pose_graph_.trajectory_size()
       << " trajectories while " << bag_filenames_.size()

cartographer_ros/cartographer_ros/dev/trajectory_comparison_main.cc

@@ -21,9 +21,8 @@
 #include <vector>
 
 #include "cartographer/common/math.h"
-#include "cartographer/io/proto_stream.h"
+#include "cartographer/io/proto_stream_deserializer.h"
 #include "cartographer/mapping/proto/pose_graph.pb.h"
-#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
 #include "cartographer/transform/transform_interpolation_buffer.h"
 #include "cartographer_ros/msg_conversion.h"
 #include "cartographer_ros/time_conversion.h"
@@ -67,9 +66,8 @@ std::string QuantilesToString(std::vector<double>* v) {
 
 void Run(const std::string& pbstream_filename,
          const std::string& bag_filename) {
-  cartographer::io::ProtoStreamReader reader(pbstream_filename);
+  cartographer::mapping::proto::PoseGraph pose_graph_proto =
-  cartographer::mapping::proto::PoseGraph pose_graph_proto;
+      cartographer::io::DeserializePoseGraphFromFile(pbstream_filename);
-  CHECK(reader.ReadProto(&pose_graph_proto));
   const cartographer::mapping::proto::Trajectory& last_trajectory_proto =
       *pose_graph_proto.mutable_trajectory()->rbegin();
   const cartographer::transform::TransformInterpolationBuffer

cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc

@@ -20,6 +20,7 @@
 #include <string>
 
 #include "cartographer/io/proto_stream.h"
+#include "cartographer/io/proto_stream_deserializer.h"
 #include "cartographer/io/submap_painter.h"
 #include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/2d/submap_2d.h"
@@ -50,31 +51,23 @@ namespace {
 void Run(const std::string& pbstream_filename, const std::string& map_topic,
          const std::string& map_frame_id, const double resolution) {
   ::cartographer::io::ProtoStreamReader reader(pbstream_filename);
-
+  ::cartographer::io::ProtoStreamDeserializer deserializer(&reader);
-  ::cartographer::mapping::proto::PoseGraph pose_graph;
-  CHECK(reader.ReadProto(&pose_graph));
-  ::cartographer::mapping::proto::AllTrajectoryBuilderOptions
-      all_trajectory_builder_options;
-  CHECK(reader.ReadProto(&all_trajectory_builder_options));
 
   LOG(INFO) << "Loading submap slices from serialized data.";
   std::map<::cartographer::mapping::SubmapId, ::cartographer::io::SubmapSlice>
       submap_slices;
-  for (;;) {
+  ::cartographer::mapping::proto::SerializedData proto;
-    ::cartographer::mapping::proto::SerializedData proto;
+  while (deserializer.ReadNextSerializedData(&proto)) {
-    if (!reader.ReadProto(&proto)) {
-      break;
-    }
     if (proto.has_submap()) {
       const auto& submap = proto.submap();
       const ::cartographer::mapping::SubmapId id{
           submap.submap_id().trajectory_id(),
           submap.submap_id().submap_index()};
       const ::cartographer::transform::Rigid3d global_submap_pose =
-          ::cartographer::transform::ToRigid3(
+          ::cartographer::transform::ToRigid3(deserializer.pose_graph()
-              pose_graph.trajectory(id.trajectory_id)
+                                                  .trajectory(id.trajectory_id)
-                  .submap(id.submap_index)
+                                                  .submap(id.submap_index)
-                  .pose());
+                                                  .pose());
       FillSubmapSlice(global_submap_pose, submap, &submap_slices[id]);
     }
   }

cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc

@@ -18,6 +18,7 @@
 #include <string>
 
 #include "cartographer/io/proto_stream.h"
+#include "cartographer/io/proto_stream_deserializer.h"
 #include "cartographer/io/submap_painter.h"
 #include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/2d/submap_2d.h"
@@ -42,21 +43,15 @@ namespace {
 void Run(const std::string& pbstream_filename, const std::string& map_filestem,
          const double resolution) {
   ::cartographer::io::ProtoStreamReader reader(pbstream_filename);
+  ::cartographer::io::ProtoStreamDeserializer deserializer(&reader);
 
-  ::cartographer::mapping::proto::PoseGraph pose_graph;
+  const auto& pose_graph = deserializer.pose_graph();
-  CHECK(reader.ReadProto(&pose_graph));
-  ::cartographer::mapping::proto::AllTrajectoryBuilderOptions
-      all_trajectory_builder_options;
-  CHECK(reader.ReadProto(&all_trajectory_builder_options));
 
   LOG(INFO) << "Loading submap slices from serialized data.";
   std::map<::cartographer::mapping::SubmapId, ::cartographer::io::SubmapSlice>
       submap_slices;
-  for (;;) {
+  ::cartographer::mapping::proto::SerializedData proto;
-    ::cartographer::mapping::proto::SerializedData proto;
+  while (deserializer.ReadNextSerializedData(&proto)) {
-    if (!reader.ReadProto(&proto)) {
-      break;
-    }
     if (proto.has_submap()) {
       const auto& submap = proto.submap();
       const ::cartographer::mapping::SubmapId id{