From ce7f33f97a66fe7db39b769acdc8d1c03b7e3f85 Mon Sep 17 00:00:00 2001 From: gaschler Date: Wed, 18 Jul 2018 17:08:00 +0200 Subject: [PATCH] Fix LoadState trajectory options access (#1298) FIXES=#1296 --- cartographer/mapping/map_builder.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/cartographer/mapping/map_builder.cc b/cartographer/mapping/map_builder.cc index 3de42b8..44d87bc 100644 --- a/cartographer/mapping/map_builder.cc +++ b/cartographer/mapping/map_builder.cc @@ -236,10 +236,10 @@ std::map MapBuilder::LoadState( deserializer.all_trajectory_builder_options(); std::map trajectory_remapping; - for (auto& trajectory_proto : *pose_graph_proto.mutable_trajectory()) { + for (int i = 0; i < pose_graph_proto.trajectory_size(); ++i) { + auto& trajectory_proto = *pose_graph_proto.mutable_trajectory(i); const auto& options_with_sensor_ids_proto = - all_builder_options_proto.options_with_sensor_ids( - trajectory_proto.trajectory_id()); + all_builder_options_proto.options_with_sensor_ids(i); const int new_trajectory_id = AddTrajectoryForDeserialization(options_with_sensor_ids_proto); CHECK(trajectory_remapping