Method visualizeGlobalMapThread

src/mapOptimizationGT.cpp:1048–1072

    // }

    void visualizeGlobalMapThread()
    {
        ros::Rate rate(0.2);
        // ROS_INFO("start publishing global maps");
        while (ros::ok()){
            // publish key poses
            
            publishCloud(&pubKeyPoses, cloudKeyPoses3D, timeLidarInfoStamp, mapFrame);
            
            publishGlobalMap();
            // ROS_INFO("publishing global maps");
            rate.sleep();
        }

        if (savePCD == false && saveKeyframeMap == false && savePose == false)
            return;

        roll::save_mapRequest  req;
        roll::save_mapResponse res;

        if (!doneSavingMap)
        {
            if(!saveMapService(req, res))   cout << "Fail to save map" << endl;
        }
    }

    void publishGlobalMap()
    {