| 51 | namespace PLPSLAM |
| 52 | { |
| 53 | Planar_Mapping_module::Planar_Mapping_module(data::map_database *map_db, const bool is_monocular) |
| 54 | : _map_db(map_db), _is_monocular(is_monocular) |
| 55 | { |
| 56 | // FW: this is a global flag indicates using instance planar segmentation |
| 57 | // used in initialization, tracking, mapping, map_publisher and visualization |
| 58 | _map_db->_b_seg_or_not = true; |
| 59 | |
| 60 | // see "./planar_mapping_parameters.yaml" |
| 61 | load_configuration(_cfg_path); |
| 62 | } |
| 63 | |
| 64 | Planar_Mapping_module::~Planar_Mapping_module() |
| 65 | { |
nothing calls this directly
no outgoing calls
no test coverage detected