HKUST-Aerial-Robotics / DenseSurfelMapping

I can't open the saved PLY file with CloudCompare. What is the reason?

The reason is that the PLY file is incompletely saved. Press crtl + c to exit the process and save the PLY file. Because the PLY file is large, the PLY file will be saved incompletely.

Are you pressing ctrl+c for many times before the saving finishes? Actually, I don't know any other methods to "save the map before quitting". Maybe adding a ROS SERVICE to save is a good option.

Just notice in my code, that it actually support saving PLY file when you publish a rostopic called "save_map" with string msg. Check the code here:

DenseSurfelMapping/surfel_fusion/src/ros_node.cpp

Line 26 in c9e32e2

    
           ros::Subscriber sub_save_map = nh.subscribe("save_map", 5000, &SurfelMap::save_map, &surfel_map);