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shichaoy / semantic_3d_mapping

Semantic 3D Occupancy Mapping through Efficient High Order CRFs
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How to save the final semantic map? #2

Closed HyuanTan closed 5 years ago

HyuanTan commented 6 years ago

Hi, thanks for share! Could you please tell me how to save the final semantic map like this? screenshot from 2018-06-05 15-08-10

Thanks!!

HyuanTan commented 6 years ago

Hi, thanks for share! I find the way to save the final semantic map in paper: screenshot from 2018-06-12 14-02-44

and set gridDimensionX/gridDimensionY in lauch file to special value.

Thanks!!

shichaoy commented 6 years ago

Hi, sorry for the late reply. I get the screenshot just through Rviz, but setting the pointcloud decay time to a large number, say 1e5. You can also save them in code: write all the local pointcloud into one giant pointcloud, (this is easy as they are already in global coordinates), then save this pointcloud into a PCD file. I didn't write code for this part yet.

HyuanTan commented 6 years ago

Hi, thanks for reply and I will try your suggestions.

qq664956261 commented 5 years ago

Could you please send me the author's dataset? The download link failed. Thank you. @HyuanTan