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Follow googlecartographer/cartographer#680. (#596) 

[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
master
Wolfgang Hess 2017-11-15 15:52:44 +01:00 committed by Wally B. Feed
parent 6b68522fcc
commit a3df182d7e
1 changed files with 2 additions and 2 deletions
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4
cartographer_ros/cartographer_ros/assets_writer_main.cc
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@ -27,7 +27,7 @@
#include "cartographer/io/points_processor.h" #include "cartographer/io/points_processor.h"
#include "cartographer/io/points_processor_pipeline_builder.h" #include "cartographer/io/points_processor_pipeline_builder.h"
#include "cartographer/io/proto_stream.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/point_cloud.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"
#include "cartographer/transform/transform_interpolation_buffer.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)); code, std::move(file_resolver));
carto::io::ProtoStreamReader reader(pose_graph_filename); 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(reader.ReadProto(&pose_graph_proto));
CHECK_EQ(pose_graph_proto.trajectory_size(), bag_filenames.size()) CHECK_EQ(pose_graph_proto.trajectory_size(), bag_filenames.size())
<< "Pose graphs contains " << pose_graph_proto.trajectory_size() << "Pose graphs contains " << pose_graph_proto.trajectory_size()