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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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save Map #479

Open trstdm opened 6 years ago

trstdm commented 6 years ago

is there an easy way to save and load maps created by ORB-slam2? The only way I can think of is serialization using Boost libraries, however the data structure of maps is complicated and it would take a lot of effort to do it this way...

Any other ideas?

AlejandroSilvestri commented 6 years ago

@trstdm this issue was addressed in many threads.

I myself have a version of orb-slam2 saving and loading maps. I use boost, but I'm not sure it was a good idea. I'm considering dropping boost and writing my own serializer, cleaner, more controlable.