parent
0ab591aa01
commit
ce7f33f97a
cartographer/mapping
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@ -236,10 +236,10 @@ std::map<int, int> MapBuilder::LoadState(
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deserializer.all_trajectory_builder_options();
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std::map<int, int> trajectory_remapping;
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for (auto& trajectory_proto : *pose_graph_proto.mutable_trajectory()) {
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for (int i = 0; i < pose_graph_proto.trajectory_size(); ++i) {
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auto& trajectory_proto = *pose_graph_proto.mutable_trajectory(i);
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const auto& options_with_sensor_ids_proto =
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all_builder_options_proto.options_with_sensor_ids(
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trajectory_proto.trajectory_id());
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all_builder_options_proto.options_with_sensor_ids(i);
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const int new_trajectory_id =
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AddTrajectoryForDeserialization(options_with_sensor_ids_proto);
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CHECK(trajectory_remapping
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