How to exploit created map ?

[jediofgever]

Hi ,
Thanks for excellent work. I have created a a map using my data, now I would like to port the created map, where is this map stored at and what is the extension like, .pcd or .bin ?. I would like to visualize the map with PCL, is there any built in function that can give me map ?

Thank you for your time

[jbehley]

Hi @jediofgever,

there is unfortunately no direct way to get the map. Depending on what you need, there are two options:

1. If you need only the aligned point clouds and maybe a voxelization, you can simply take the poses from SurfelMapping::getOptimizedPoses() and do the processing yourself. Something like: https://gist.github.com/jbehley/bdc7792ce84cff6233bf6adb30b8be4c
2. If your are interested in the actual surfels, then you have to get the submaps and the current surfels from SurfelMap, where the surfels of the active map are stored in surfels_ and you can use the get method of GlBuffer to retrieve them. The surfels in the submapCache_ are then the surfels that are currently in the inactive parts of the surfel map. The timestamp of the Surfel tells you then the pose T which you have to use to get the global position T * (x,y,z) of the surfel.

The second option needs some coding and unfortunately I cannot provide right now any assistance with that and there are also no plans to include this feature in future.

[jbehley]

There seems not to be much activity here. Therefore I close this now. If you have further questions, feel free to reopen the issue again.