[QUESTION] How can I save final mesh?

[MikeDmytrenko]

In the output folder I only see the ply file of the mesh from the frontend which is latest snapshot. How can I save the whole mesh in the ply format?

Thanks!

[nathanhhughes]

Sorry in advance if I'm misunderstanding your question. There are a few ways to get access to the "whole" mesh (i.e. the mesh reconstructed for the entire scene):

• If you don't have LCD enabled, frontend/mesh.ply should be the mesh for the whole scene (if you do, then it's uncorrected for drift but should still be the entire scene)
• backend/dsg_with_mesh.json contains the final mesh information (corrected for drift if you have LCD enabled). You could write a quick c++ script to load in the dsg and then write out the pcl::PolygonMesh that you get from DynamicSceneGraph.getMesh to PLY.
• This service callback should work to save the mesh to pgmo/mesh_pgmo.ply (I believe the service should be available under /incremental_dsg_builder_node/save_mesh)