Commit 3d7c40a9 authored by Julia Sanchez's avatar Julia Sanchez
Browse files

[change] Minor changes in LoadMapsFromPCD (newly used in ROS node)

- Add output message if path not found
- Change planar keypoints file name to standardize map names
parent 18ac9b12
Pipeline #205452 passed with stage
in 56 seconds
......@@ -494,10 +494,12 @@ void Slam::LoadMapsFromPCD(const std::string& filePrefix, bool resetMaps)
std::cout << "SLAM keypoints map successfully loaded from " << path << std::endl;
map->Add(keypoints);
}
else
std::cout << "No SLAM keypoints map found in file system (path given : " << path << ")"<< std::endl;
};
loadMapFromPCD(filePrefix + "edges.pcd", this->EdgesPointsLocalMap);
loadMapFromPCD(filePrefix + "planars.pcd", this->PlanarPointsLocalMap);
loadMapFromPCD(filePrefix + "planes.pcd", this->PlanarPointsLocalMap);
loadMapFromPCD(filePrefix + "blobs.pcd", this->BlobsPointsLocalMap);
// TODO : load/use map origin (in which coordinates?) in title or VIEWPOINT field
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment