search

ethz-asl / segmap

A map representation based on 3D segments
BSD 3-Clause "New" or "Revised" License
1.05k stars 394 forks source link

Integrate segments into single map #145

Closed brunoeducsantos closed 5 years ago

brunoeducsantos commented 5 years ago

Hi, I was trying to add several segmented_clouds into one single segmented_cloud. Although, I keep obtaining duplicates and non correct pose integration. Is there method that merges segments into a single map using a SLAM orientation? Regards, Bruno

brunoeducsantos commented 5 years ago

I used the following script:

    //integrate segment cloud pose
    segmented_cloud_.setTimeStampOfSegments(latest_pose_.time_ns);
    segmented_cloud_.setLinkPoseOfSegments(latest_pose_.T_w);
    segmented_target_cloud_.addSegmentedCloud(segmented_cloud_,renamed_segments);