Pls, how do I save the global map?
Jaywxy opened this issue · comments
I'm able to run the program properly, but I want to get the final global map. How do I modify the code? Or is there an interface to save global maps?
Hey @Jaywxy, thanks for using our code. We so far didn't implement a function to save the global map, but you could have a look at variable surfels_ which stores all the surfels of the map.
You could get the surfels_ by:
semantic_suma/src/core/SurfelMap.h
Line 67 in b58d880
ok.Thanks for your reply.
I want to remove all movable objects ,But I don't know where to add the code. Can you tell me?Thanks
Hey @Jaywxy, thanks for using our code. We so far didn't implement a function to save the global map, but you could have a look at variable surfels_ which stores all the surfels of the map.
You could get the surfels_ by:
semantic_suma/src/core/SurfelMap.h
Line 67 in b58d880
Hello, thank you for proposing a solution to save the point cloud. I want to save the color point cloud. I modified VisualizerWindow:: renderMaps()
, but the result is not correct. All colors are similar to gray, (40, 40, 40)
int r = surfel_it->r*255.0;
int g = surfel_it->g*255.0;
int b = surfel_it->b*255.0;
float w = surfel_it->w;
points_file << pose_world.x() << " " << pose_world.y() << " " << pose_world.z() <<" "<<surfel_it->color<<" "<<r<<" "<<g<< " "<<b<<" "<<w<< std::endl;