Displaying map and robot trajectory combined?

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Hi. Sorry for all mistakes, English is not my native language. I'm using Cartographer to build map and I need to display on one image builded map and trajectory of the robot that builded that map. I found and managed to run this code, that can extract robot trajectories from .pbstream file but this is not exactly what I need. Is there a way to extract map from .pbstream and display on it robot trajectory? Appreciate any help.