| 28 | } |
| 29 | |
| 30 | std::vector<Cylinder> MapManager::getMap() |
| 31 | { |
| 32 | std::vector<Cylinder> map; |
| 33 | for(auto i = 0; i < treeModels_.size(); ++i) |
| 34 | { |
| 35 | if(treeHits_[i] > 2) |
| 36 | map.push_back(treeModels_[i]); |
| 37 | } |
| 38 | return map; |
| 39 | } |
| 40 | |
| 41 | void MapManager::getSubmap(const SE3& pose, std::vector<Cylinder>& submap){ |
| 42 | if(landmarks_->size() == 0) return; |