Follow googlecartographer/cartographer#1424 (#1014)
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@ -162,9 +162,8 @@ void MapBuilderBridge::RunFinalOptimization() {
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bool MapBuilderBridge::SerializeState(const std::string& filename,
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bool MapBuilderBridge::SerializeState(const std::string& filename,
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const bool include_unfinished_submaps) {
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const bool include_unfinished_submaps) {
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cartographer::io::ProtoStreamWriter writer(filename);
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return map_builder_->SerializeStateToFile(include_unfinished_submaps,
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map_builder_->SerializeState(include_unfinished_submaps, &writer);
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filename);
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return writer.Close();
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}
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}
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void MapBuilderBridge::HandleSubmapQuery(
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void MapBuilderBridge::HandleSubmapQuery(
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