cartographer: add version 2.0.0 (#3173)
* cartographer: add 2.0.0 * cartographer: fix name * cartographer: add include memory * cartographer: remove files with `int main` * cartographer: remove another file * cartographer: remove `remove_files` (unneeded) * cartographer: remove unneeded statementspull/3186/head
Chi Huu Huynh
1 year ago
committed by
GitHub
parent
d1a178f465
commit
98c404ec08
4 changed files with 139 additions and 3 deletions
@ -0,0 +1,39 @@ |
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diff --git a/cartographer/common/math.h b/cartographer/common/math.h
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index c4a77ef..0248f66 100644
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--- a/cartographer/common/math.h
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+++ b/cartographer/common/math.h
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@@ -17,6 +17,10 @@
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#ifndef CARTOGRAPHER_COMMON_MATH_H_
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#define CARTOGRAPHER_COMMON_MATH_H_
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+#ifndef M_PI
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+#define M_PI 3.14159265358979323846
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+#endif
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+
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#include <cmath>
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#include <vector>
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diff --git a/cartographer/mapping/pose_graph_interface.h b/cartographer/mapping/pose_graph_interface.h
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index 68551f1..6055485 100644
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--- a/cartographer/mapping/pose_graph_interface.h
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+++ b/cartographer/mapping/pose_graph_interface.h
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@@ -19,6 +19,7 @@
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#include <chrono>
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#include <vector>
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+#include <array>
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#include "absl/types/optional.h"
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#include "cartographer/mapping/id.h"
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diff --git a/cartographer/mapping/value_conversion_tables.h b/cartographer/mapping/value_conversion_tables.h
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index 56924f0..f67854f 100644
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--- a/cartographer/mapping/value_conversion_tables.h
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+++ b/cartographer/mapping/value_conversion_tables.h
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@@ -19,6 +19,7 @@
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#include <map>
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#include <vector>
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+#include <memory>
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#include "cartographer/common/port.h"
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#include "glog/logging.h"
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@ -0,0 +1,89 @@ |
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diff --git a/cartographer/common/port.h b/cartographer/common/port.h
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index eec8469..96881ad 100644
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--- a/cartographer/common/port.h
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+++ b/cartographer/common/port.h
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@@ -17,12 +17,14 @@
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#ifndef CARTOGRAPHER_COMMON_PORT_H_
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#define CARTOGRAPHER_COMMON_PORT_H_
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-#include <boost/iostreams/device/back_inserter.hpp>
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-#include <boost/iostreams/filter/gzip.hpp>
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-#include <boost/iostreams/filtering_stream.hpp>
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#include <cinttypes>
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+#include <cstring>
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#include <cmath>
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#include <string>
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+#include <stdexcept>
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+#include <functional>
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+
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+#include <zlib.h>
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namespace cartographer {
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@@ -47,22 +49,54 @@ inline int64 RoundToInt64(const double x) { return std::lround(x); }
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inline void FastGzipString(const std::string& uncompressed,
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std::string* compressed) {
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- boost::iostreams::filtering_ostream out;
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- out.push(
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- boost::iostreams::gzip_compressor(boost::iostreams::zlib::best_speed));
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- out.push(boost::iostreams::back_inserter(*compressed));
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- boost::iostreams::write(out,
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- reinterpret_cast<const char*>(uncompressed.data()),
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- uncompressed.size());
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+ z_stream zs;
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+ memset(&zs, 0, sizeof(zs));
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+
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+ if (deflateInit(&zs, Z_BEST_SPEED) != Z_OK)
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+ throw std::runtime_error("deflateInit failed while compressing.");
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+
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+ zs.next_in = reinterpret_cast<Bytef*>(const_cast<char*>(uncompressed.data()));
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+ zs.avail_in = static_cast<uInt>(uncompressed.size());
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+
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+ int ret;
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+ char buffer[4096];
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+
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+ do {
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+ zs.next_out = reinterpret_cast<Bytef*>(buffer);
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+ zs.avail_out = sizeof(buffer);
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+
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+ ret = deflate(&zs, Z_FINISH);
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+
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+ compressed->append(buffer, sizeof(buffer) - zs.avail_out);
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+ } while (zs.avail_out == 0);
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+
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+ deflateEnd(&zs);
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}
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inline void FastGunzipString(const std::string& compressed,
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std::string* decompressed) {
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- boost::iostreams::filtering_ostream out;
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- out.push(boost::iostreams::gzip_decompressor());
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- out.push(boost::iostreams::back_inserter(*decompressed));
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- boost::iostreams::write(out, reinterpret_cast<const char*>(compressed.data()),
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- compressed.size());
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+ z_stream zs;
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+ memset(&zs, 0, sizeof(zs));
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+
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+ if (inflateInit(&zs) != Z_OK)
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+ throw std::runtime_error("inflateInit failed while decompressing.");
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+
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+ zs.next_in = reinterpret_cast<Bytef*>(const_cast<char*>(compressed.data()));
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+ zs.avail_in = static_cast<uInt>(compressed.size());
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+
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+ int ret;
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+ char buffer[4096];
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+
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+ do {
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+ zs.next_out = reinterpret_cast<Bytef*>(buffer);
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+ zs.avail_out = sizeof(buffer);
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+
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+ ret = inflate(&zs, Z_NO_FLUSH);
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+
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+ decompressed->append(buffer, sizeof(buffer) - zs.avail_out);
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+ } while (zs.avail_out == 0);
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+
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+ inflateEnd(&zs);
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}
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} // namespace common
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