Save an output map from OrbSlam2 and download the map to a Jetson Nano for localization

appliedAI-Initiative / orb_slam_2_ros

A ROS implementation of ORB_SLAM2

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Save an output map from OrbSlam2 and download the map to a Jetson Nano for localization #19

Closed mandelyoni closed 5 years ago

mandelyoni commented 5 years ago

Dear Lennart,

We would like to save an output map from OrbSlam2 (after mapping a room with a laptop), and then download the map to a Jetson Nano, which will only run localization in the same room. Any suggestions how to carry this out?

Thanks, Yoni.

lennarthaller commented 5 years ago

Right now, this feature is not supported but definitely something I plan on doing sometime in the future. If you want to work on this take a look at this PR from the original implementation where someone worked on serializing the existing data structures.

Best, Lennart

lennarthaller commented 5 years ago

Closing due to inactivity. Feel free to reopen if needed.

r7vme commented 5 years ago

Hello, just in case anyone wanted to save few hours. Here is up-to-date (Jun 23, 2019) map saver from mentioned PR. Tested with mono node, but others should also work.

https://github.com/r7vme/orb_slam_2_ros/commit/ac24ff82ec6fddbf72f499421c8bc514bddfffc9

git remote add map_saver https://github.com/r7vme/orb_slam_2_ros.git
git fetch map_saver
git cherry-pick ac24ff82ec6fddbf72f499421c8bc514bddfffc9

Few configs are changed:

in TUM1.yaml added Map.mapfile: map.bin. By default ROS will save to ~/.ros/.
new ROS param save_map. Should be set to true, if want to save a map.

P.S.: I see branch save-load, but w/o any new code.

lennarthaller commented 5 years ago

Very cool! If you create a PR I'm happy to test and merge it!

r7vme commented 5 years ago

Hey @lennarthaller here is the PR https://github.com/appliedAI-Initiative/orb_slam_2_ros/pull/32

lennarthaller commented 5 years ago

Awesome, perfect!