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文件:collated_trajectory_builder.h
#ifndef CARTOGRAPHER_MAPPING_COLLATED_TRAJECTORY_BUILDER_H_
#define CARTOGRAPHER_MAPPING_COLLATED_TRAJECTORY_BUILDER_H_
#include <chrono>
#include <map>
#include <memory>
#include <string>
#include <unordered_set>
#include "cartographer/common/port.h"
#include "cartographer/common/rate_timer.h"
#include "cartographer/mapping/global_trajectory_b