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Store histogram in submaps: prepare for backward compatiblity (#1405)
This makes the map builder backwards compatible to the current map pbstream (version 1). The PR prepares for #1277, where pbstream version 2 will be introduced. Backwards compatibility was discussed in #1277. When a map with pbstream version 1 is loaded, a rotational scan matcher histogram is generated for each submap using the histograms of all nodes that were inserted to the submap during local SLAM. Once this backwards compatibility is in place, I would like to introduce the new format with #1277.
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