{"action":"created","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer/issues/1470","repository_url":"https://api.github.com/repos/googlecartographer/cartographer","labels_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/1470/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/1470/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/1470/events","html_url":"https://github.com/googlecartographer/cartographer/issues/1470","id":384822462,"node_id":"MDU6SXNzdWUzODQ4MjI0NjI=","number":1470,"title":"Add landmarks to existing map for pure localization mode","user":{"login":"johuber","id":6849283,"node_id":"MDQ6VXNlcjY4NDkyODM=","avatar_url":"https://avatars3.githubusercontent.com/u/6849283?v=4","gravatar_id":"","url":"https://api.github.com/users/johuber","html_url":"https://github.com/johuber","followers_url":"https://api.github.com/users/johuber/followers","following_url":"https://api.github.com/users/johuber/following{/other_user}","gists_url":"https://api.github.com/users/johuber/gists{/gist_id}","starred_url":"https://api.github.com/users/johuber/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/johuber/subscriptions","organizations_url":"https://api.github.com/users/johuber/orgs","repos_url":"https://api.github.com/users/johuber/repos","events_url":"https://api.github.com/users/johuber/events{/privacy}","received_events_url":"https://api.github.com/users/johuber/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2018-11-27T14:32:28Z","updated_at":"2018-12-03T14:19:51Z","closed_at":null,"author_association":"NONE","body":"In our application we have a known (mapped) environment and operate in pure localization mode.\r\nSince we have poor localization performance in certain parts of the map and possibly also to accelerate initialization, we'd like to add distinct landmarks (QR-Tags or similar) at certain places.\r\n\r\nIs there a way to define the landmark poses with respect to the map at this stage? We already have a pbstream of the map, but don't want to rebuild the map because it takes too much time considering that we will need to try different landmark configurations.\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/googlecartographer/cartographer/issues/comments/443725645","html_url":"https://github.com/googlecartographer/cartographer/issues/1470#issuecomment-443725645","issue_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/1470","id":443725645,"node_id":"MDEyOklzc3VlQ29tbWVudDQ0MzcyNTY0NQ==","user":{"login":"johuber","id":6849283,"node_id":"MDQ6VXNlcjY4NDkyODM=","avatar_url":"https://avatars3.githubusercontent.com/u/6849283?v=4","gravatar_id":"","url":"https://api.github.com/users/johuber","html_url":"https://github.com/johuber","followers_url":"https://api.github.com/users/johuber/followers","following_url":"https://api.github.com/users/johuber/following{/other_user}","gists_url":"https://api.github.com/users/johuber/gists{/gist_id}","starred_url":"https://api.github.com/users/johuber/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/johuber/subscriptions","organizations_url":"https://api.github.com/users/johuber/orgs","repos_url":"https://api.github.com/users/johuber/repos","events_url":"https://api.github.com/users/johuber/events{/privacy}","received_events_url":"https://api.github.com/users/johuber/received_events","type":"User","site_admin":false},"created_at":"2018-12-03T14:19:51Z","updated_at":"2018-12-03T14:19:51Z","author_association":"NONE","body":"I just found the answer to my question.\r\n\r\nAs @ojura stated in his [comment](https://github.com/googlecartographer/cartographer/pull/988#issuecomment-373159268) in PR #988 , I would now be interested in the case, where I can add landmarks on top of a frozen trajectory.\r\n\r\nI will submit a PR for this. My proposal:\r\n- always allow introduction of new landmarks\r\n- set parameter blocks of a trajectory's landmarks constant whenever `freezeTrajectory` is called for it.\r\n\r\nAny objections?\r\n"}}
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