From a3df182d7e67ef517a6ef978ebec559d114facdb Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Wed, 15 Nov 2017 15:52:44 +0100 Subject: [PATCH] Follow googlecartographer/cartographer#680. (#596) [RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md) --- cartographer_ros/cartographer_ros/assets_writer_main.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cartographer_ros/cartographer_ros/assets_writer_main.cc b/cartographer_ros/cartographer_ros/assets_writer_main.cc index 12a2694..3cbf145 100644 --- a/cartographer_ros/cartographer_ros/assets_writer_main.cc +++ b/cartographer_ros/cartographer_ros/assets_writer_main.cc @@ -27,7 +27,7 @@ #include "cartographer/io/points_processor.h" #include "cartographer/io/points_processor_pipeline_builder.h" #include "cartographer/io/proto_stream.h" -#include "cartographer/mapping/proto/sparse_pose_graph.pb.h" +#include "cartographer/mapping/proto/pose_graph.pb.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/range_data.h" #include "cartographer/transform/transform_interpolation_buffer.h" @@ -131,7 +131,7 @@ void Run(const std::string& pose_graph_filename, code, std::move(file_resolver)); carto::io::ProtoStreamReader reader(pose_graph_filename); - carto::mapping::proto::SparsePoseGraph pose_graph_proto; + carto::mapping::proto::PoseGraph pose_graph_proto; CHECK(reader.ReadProto(&pose_graph_proto)); CHECK_EQ(pose_graph_proto.trajectory_size(), bag_filenames.size()) << "Pose graphs contains " << pose_graph_proto.trajectory_size()