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HKUST-Aerial-Robotics / FIESTA

Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots
MIT License
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Saving the ESDF map #21

Closed deepak-1530 closed 3 years ago

deepak-1530 commented 3 years ago

I want to save the ESDF map generated by FIESTA. Is there a way to do it?

hlx1996 commented 3 years ago

If you just want to save ESDF map itself, you can only dump the vector distancebuffer. If you want the saved map can be reused in FIESTA, I suggest you save the following vectors at Line 82 - 91 in ESDFMap.h https://github.com/HKUST-Aerial-Robotics/FIESTA/blob/master/include/ESDFMap.h#L82