| 3 | #include <plane.h> |
| 4 | |
| 5 | class MapManager { |
| 6 | public: |
| 7 | explicit MapManager(const float searchRadius = 50); |
| 8 | std::vector<Cylinder> getMap(); |
| 9 | void getSubmap(const SE3& pose, std::vector<Cylinder>& submap); |
| 10 | void updateMap(std::vector<Cylinder>& obs_tms, const std::vector<int>& matches); |
| 11 | private: |
| 12 | float sqSearchRadius; |
| 13 | CloudT::Ptr landmarks_; |
| 14 | std::vector<Cylinder> treeModels_; |
| 15 | std::map<int, int> matchesMap; |
| 16 | std::vector<size_t> treeHits_; |
| 17 | }; |