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thien94 / orb_slam3_ros_wrapper

A ROS wrapper for ORB-SLAM3. Focus on portability and flexibility.
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where the map saved ? #26

Closed zoldaten closed 1 year ago

zoldaten commented 1 year ago

hello. i put to EuRoC.yaml the line to save a map: System.SaveAtlasToFile: "~/home/pi/my_map1" but i seems i doesnt working. May be ros_wrapper saves map and trajectory somewhere else ?

thien94 commented 1 year ago

Hi @zoldaten , ORB-SLAM3 uses the param System.SaveAtlasToFile to specify only the name of the file, while the directory to be saved in is the ROS_HOME folder (which is ~/.ros by default).

zoldaten commented 1 year ago

thanks for the answer. but cant see anything there - only caches and logs. may be i should walk around to make a better map and then press Stop button at GUI ORB_SLAM3 as i do ? Screenshot_1

thien94 commented 1 year ago

may be i should walk around to make a better map and then press Stop button at GUI ORB_SLAM3 as i do ?

That's a good idea. For more details, ORB-SLAM3 specifies the path file in this function https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/master/src/System.cc#L1403-L1443 You can change pathSaveFileName to a specific location if necessary.

zoldaten commented 1 year ago

ok. got it working. the problem was in node. i used usb_cam node that also work correct. now i move to raspicam-node that lets save a map. strange effect but work - Screenshot_2 thanks!