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ethz-asl / segmap

A map representation based on 3D segments
BSD 3-Clause "New" or "Revised" License
1.06k stars 393 forks source link

Transferred files from private repository #2

Closed rdube closed 7 years ago

rdube commented 7 years ago

Hi @exodaniel @gawela @HannesSommer I transferred segmatch and laser_mapper from our private repository. Nice work!! :)

gawela commented 7 years ago

That's nice. I was wondering why laser mapper is living in segmatch as we have also laser mapper components that function without segmatch. Is there a good way to separate laser_mapper with and without segmatch without code duplications? E.g. with build flags in laser_slam? Probably a good question for @HannesSommer ...

HannesSommer commented 7 years ago

Yes this is something @rdube and me discussed. If I remember right the idea was to encapsulate most of the laser_mapper in classes that can be used as a library to implement a laster_mapper node with. This laser_mapper-library should then eventually move to the laser_slam repo and there get an additional laser_mapper node that can stand alone without segmatcher. The more functionally for laser_mapping is in the library part the less duplication will be there between the segmatch-laser_mapper and the laser_slam laser_mapper.

rdube commented 7 years ago

Yes exactly! We can also move functionalities in a laser_slam_ros package eg. loading parameters as done in segmatch_ros. I'm sure that there will be a clean way to do it! :)