In this pull request, I include the plane constraints for planar surfaces.
So it includes:
An additional message type for plane segments
An additional message type for submaps with plane segments
An additional callback function for receiving submap with their plane segments (submapWithPlanesCallback)
The building procedure of the plane constraints containing the SubmapStitcher class which finds which planes should be matched and the procedure to create the
The plane cost function itself.
Every part of this implementation is implemented in addition to the previous one so that any conflicts are avoided and all previous functionality is not touched.
In this pull request, I include the plane constraints for planar surfaces.
So it includes:
submapWithPlanesCallback)SubmapStitcherclass which finds which planes should be matched and the procedure to create theEvery part of this implementation is implemented in addition to the previous one so that any conflicts are avoided and all previous functionality is not touched.