How to save the results?
BizzareNathan opened this issue · comments
Nice work!Thank you for your sharing！
To further evaluate the work, could you please tell me how to save the point cloud and mesh results?
now you cansave mesh by：
set parameter save_mesh_map in yaml file to true. A ply file should be saved in salmesh_ws/slamesh_result.
#16
By the way, if you want to save the accumulated raw point cloud, set the parameter save_raw_point_clouds as true, it should be ok.
Hi, I have update the code and you now can save the mesh and report more easily.
发件人: FPSychotic ***@***.***>
发送时间: 2023年9月12日 1:47
收件人: RuanJY/SLAMesh ***@***.***>
抄送: RUAN, Jianyuan [Student] ***@***.***>; Mention ***@***.***>
主题: Re: [RuanJY/SLAMesh] How to save the results? (Issue #5)
hi , following that steps I'm no able to save the pointcloud or the mesh. Modifying :
bool save_mesh_map = true; map_glb.filterMeshGlb(); mesh_pub.publish(map_glb.mesh_msg); if(save_mesh_map){ //at the end, publish global mesh map, may cost seconds std::string file_loc_mesh_ply = param.file_loc_report + param.seq + "_mesh.ply"; map_glb.outputMeshAsPly(file_loc_mesh_ply, map_glb.mesh_msg);
I get :
`t_update : 0.12522ms
t_draw_map : 0.27658ms
===STEP 149===Time used: 14.13274 ms===
Pose Odom❌ -0.00255 y: 0.01186 z: 0.00245
^C[rviz-2] killing on exit
[slamesher-1] killing on exit
break
mesh_msg: point 2736 faces: 1674
wrong file location of mesh_msg_to_save to save
Saving result
TIME ALL STEPS: 1.91765 s
TRJ LENGTH : 1.58637
average_time
time_average : 12.69967
time_get_pcl : 131.28722
time_down_sample : 1.14409
time_overlap_region: 0.18464
time_overlap_points: 1.99057
time_gp : 7.64966
time_compute_rt : 1.11393
time_update : 0.10677
time_cost_draw_map : 0.26729
Result not saved
terminate called after throwing an instance of 'pcl::IOException'
what(): : [pcl::PCDWriter::writeASCII] Could not open file for writing!
shutting down processing monitor...
... shutting down processing monitor complete
done
***@***.***:~$
@RuanJY<https://github.com/RuanJY>
By the way, if you want to save the accumulated raw point cloud, set the parameter save_raw_point_clouds as true, it should be ok.
I did:
bool odom_available, read_offline_pcd, cross_overlap, grt_available, imu_feedback, meshing_tsdf, full_cover, save_raw_point_clouds**{true}**, point2mesh{true}, residual_combination{true};
I added {true}, but I dont get anything saved.
I'm sorry if im making some obvious mistake, but I'm not very good on this as I have no coding skills.
Would be great the repositiry gives pointclouds and mesh saving activated by default in a standard directory as in home or package root, and desactivate it if needed, I think most people will want activated, specially the mesh.
by the way, congratulations, it is a impressive software.
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Thank you, is wonderful People with such knowledge share it with others