#ifndef MAPDETECTOR_H #define MAPDETECTOR_H #include "localize_utils/utils.h" #include "localize_utils/pcl_point_type.h" #include <GeographicLib/LocalCartesian.hpp> #include <pcl/octree/octree.h> #include "poseguesser.h" using namespace GeographicLib; using namespace boost::filesystem; namespace juefx{ class MapDetector { public: using Ptr = boost::shared_ptr<MapDetector>; MapDetector(); void Reset(); static MapDetector::Ptr Instance(); void HandleMapFolder(const string& mapFolder); vector<string> GetCloseMap(const Vector3d &blh, float distance); private: vector<string> GetMapDirs(const string& mapFolder); void ConfigMaps(const vector<string>& mapDirs); private: vector<PoseGuesser::Ptr> poseGuesserVec_; }; } // end of namespace #endif // MAPDETECTOR_H