Getting The Map pcd file?

[wienans]

Hi,
thanks for your contribution to the SLAM space.
Actually i was wondering if the map can be saved? Or is this this offline mapping bug?

Moreover i wanted to ask if you have already experience with z stability of the algorithm, as many algorithms tend to struggle there which don't have any global height reference like GPS.

[Huguet57]

About the map saving, yes! It has been developed on the "hdmaps" branch. It's still not merged since I want it to work without adding too much complexity to what's there now. I expect it's (maximum) a week's work to implement it, so expect it to be merged soon.

If you would like to try it, clone the 'hdmaps' branch and you will see there's a map.save() and map.load() methods.

To save it as .pcd there should be a small change: converting Points to pcl::PointCloud<full_info::Point> (Point's method .toPCL()) and then calling pcl::io::savePCDFileASCII.

[Huguet57]

About the "z-stability", I remember trying the algorithm on KITTI it might be a slight problem on very long (>1km) paths but adding GPS is a TODO I intend to add given the couple of requests I received. It should not be very hard, give it a couple of weeks.