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m4nh / skimap_ros

Ros implementation of Skimap
GNU General Public License v3.0
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How to Saving Map ? #36

Open RuPingCen opened 5 years ago

RuPingCen commented 5 years ago

Hi @m4nh , Thank you for your sharing, it is amazing work. I have run this successful with ORB SLAM, but I have some issues about how to save the 3D map. Is there have any function can be used to save the final map? And, I found it will make the computer freeze up when I using TUM RGBD dataset for 3D mapping, the CPU of my computer is I7-8700K with 32G RAM and RTX2070. So, is there any way to solve this problem?

m4nh commented 5 years ago

Hi @RuPingCen ! As far as the Saving problem is concerned, in the SkipListV2 class there is a "saveToFile" and "loadFromFile" functions. They are just for debug purposes, but you can understand the workflow used to export data and adapt it to your usecase.

For the Freeze problem, i don't know. What resolution are you using? Are you sure you do not saturate the RAM ?

However we are working on the beta release (really is just implemented in the "semantic" branch of git), probably some bug last in the "master" version