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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Apache License 2.0
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Save pose-graph #1401

Closed woshidaye closed 5 years ago

woshidaye commented 6 years ago

Cartographer is SLAM based on graph optimization. I want to save the pose graph after the map is created. That is to say, the nodes (submaps' position), edges, constraints, and submaps corresponding to each node of the pose graph are saved. How can this be achieved?

kdaun commented 6 years ago

You can use the \write_state service to serialize the current state. See the Assets write documentation for an example.

gaschler commented 5 years ago

Closing as answered