search

gxytcrc / semantic-histogram-based-global-localization

Semantic graph based global localization for multi-robot map fusion.
MIT License
114 stars 21 forks source link

How to visualize the graph? #9

Open BobH62 opened 12 months ago

BobH62 commented 12 months ago

I follow the instruction and run the code without crash. But I could not find out whether there is a function in the code to visualize the graph. So any hint to reproduce the results of the semantic nodes and the edges?

gxytcrc commented 11 months ago

Hello, we visualize the point cloud by using the PCL libarary, the function is in the PointCloudMapping.cpp, please check the code (The main.cpp has the function but it is commented, try to uncomment these lines, and run the code), thank you.