Huaiyang HUANG

Hi, you can refer [gmm_utils.cpp](https://github.com/HyHuang1995/gmmloc/blob/master/gmmloc/src/gmm/gmm_utils.cpp) for saving a map.

Hello, for GMM generation, we simply using [scikit-learn](https://scikit-learn.org/stable/auto_examples/mixture/plot_gmm_selection.html) on several segments of the raw data. Segments are extracted to avoid memory issue in clustering. The method you referred is similar...

Currently we would not open source the code of bareg. We are working on a project that is highly relevant to bareg, and we might open source the project upon...

Yes, it seems to me is related to gcc version. `shared_mutex` is available in g++-7 and newer version.

Hi, I think you can launch the script without argument `viewer`.