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ethz-asl / panoptic_mapping

A flexible submap-based framework towards spatio-temporally consistent volumetric mapping and scene understanding.
BSD 3-Clause "New" or "Revised" License
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node that saves the meshes send to RVIZ #54

Closed hermannsblum closed 1 year ago

hermannsblum commented 2 years ago

Since colorized meshes are published directly in the voxblox rviz message format, which requires further computation in the voxblox rviz plugin, there is currently no way to save the meshes that are produced by the map-visualisation nodes, e.g. colorized by class, instance, or uncertainty.

This node is independent of the rest of the code. It simply listens to the message that is send to the rviz plugin, processes it with the same code as the plugin, and saves it as ply. Every time the visualisation parameters are changes (e.g. through service calls), the saved mesh gets updated. Once it looks good in rviz, a user can simply copy or rename the current output file to save the mesh of the current state.

hermannsblum commented 1 year ago

sorry, there was a problem with the rosparam when I tried this again a couple of days ago. Need re-approval.