旧版本为cartographer_pbstream

源码是pbstream_main.cc，又实际调用了pbstream_info.cc 和 pbstream_migrate.cc

int main(int argc, char** argv)
{
  google::InitGoogleLogging(argv[0]);

  FLAGS_logtostderr = true;
  const std::string usage_message =
      "Swiss Army knife for pbstreams.\n\n"
      "Currently supported subcommands are:\n"
      "\tinfo    - Prints summary of pbstream.\n"
      "\tmigrate - Migrates old pbstream (w/o header) to new pbstream format.";
  google::ParseCommandLineFlags(&argc, &argv, true);

  if (argc < 2) {
    google::SetUsageMessage(usage_message);
    google::ShowUsageWithFlagsRestrict(argv[0], "pbstream_info_main");
    return EXIT_FAILURE;
  } else if (std::string(argv[1]) == "info") {
    return ::cartographer::io::pbstream_info(argc, argv);
  } else if (std::string(argv[1]) == "migrate") {
    return ::cartographer::io::pbstream_migrate(argc, argv);
  }
  // 其他情况会报错
}

可执行文件在carto_ws/install_isolated/bin

pbstream_main info

终端执行pbstream_main info，调用pbstream_info：打印出pbstream文件的概况，路径支持环境变量。

./pbstream_main info $MAPS/file.pbstream

结果的中间一大部分是采用的lua参数，如果不想显示这些参数，注释掉源码里的LOG(INFO) << "Trajectory options: " << trajectory_options.DebugString();

结果如下：

Reading pbstream file from '/home/xiaoqiang/carto_ws/maps/file.pbstream'...
Header: format_version: 2
Trajectory options: sensor_id {
  id: "scan"
}
sensor_id {
  type: IMU
  id: "imu"
}
sensor_id {
  type: ODOMETRY
  id: "odom"
}

# ......省略lua参数
Trajectory id: 0 has #nodes 9778 has #submaps 161
SerializedData package contains #node: 9778
SerializedData package contains #odometry_data: 49697

SerializedData package contains #submap: 161
SerializedData package contains #submap_2d: 161
SerializedData package contains #submap_2d_grid: 161

SerializedData package contains #submap_3d: 0
SerializedData package contains #submap_3d_high_resolution_hybrid_grid: 0
SerializedData package contains #trajectory_data: 1

不要在最后加-all_debug_strings=true，否则打印出无穷无尽的内容，包括了栅格值和子图转换表等等。

pbstream_main migrate

终端执行pbstream_main migrate，调用pbstream_migrate：把pbstream文件移植到新的子图格式。把未使用histogram的子图文件移植为包含histogram的子图格式。如果想在输出文件中排除未完成的子图，设置--include_unfinished_submaps为false