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hmz-15 / Interactive-Scene-Reconstruction

Reconstructing Interactive 3D Scenes for Simulating Robot Autonomy
BSD 3-Clause "New" or "Revised" License
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How to save the CAD replacement results #4

Closed DoctorXK closed 2 years ago

DoctorXK commented 2 years ago

Hello,

The options in map_proc/launch/map_processing.launch doesn't seem to cover how to save the results of scene with CAD replacement. However, it seems that it is necesssary to save the CAD replacement results if we want these for post-processing. So I would like to ask how to save this kind of result? Or is there any saving options in the script?

It would be grateful if you can give some suggestions. Thank you very much!!!

hmz-15 commented 2 years ago

The results will be saved under $Your_output_folder/contact_graph/ as a few json files. The output folder can be specified in the launch file. Hope this helps.

DoctorXK commented 2 years ago

Thanks for your quick reply!!!

The CAD replacement result here refers to the scene in visualization, which looks like a mesh data. I mean it there anyway to save the scene visualzation result?

hmz-15 commented 2 years ago

Actually we didn’t represent the scene after CAD replacement as mesh. Instead we save the results the CAD replacement results as json files. To generate visualization, we load CAD models with specified scale and pose (and mesh of layouts of course) into 3D viewers. You can do similar things if you want.

DoctorXK commented 2 years ago

Ok, I got it. Thanks again for your patient answering :)