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Published 20 hours ago • verified publisher icon appliedAI-Initiative

Extract a point cloud from the saved map

Open mandelyoni opened this issue 4 years ago • 5 comments

Hi Lennart, how are you? Is there an easy way to extract a point cloud from the saved map? Thanks !!

mandelyoni avatar Dec 12 '19 07:12 mandelyoni

When you load the saved map during localisation just echo /orb_slam2_stereo/map_points or view it on Rviz which contains the poincloud of the map.

abhileshborode avatar Dec 12 '19 21:12 abhileshborode

If you want to have a standalone program you could also just take the code which loads the map data structure from this repo and then write something small which writes to CSV or what ever you need. Does that answer your question?

lennarthaller avatar Apr 02 '20 09:04 lennarthaller

@mandelyoni did you ever figure out a way of doing this?

andrew-t97 avatar Apr 21 '20 11:04 andrew-t97

@lennarthaller Could you indicate where the code is for loading the map data? I'm unable to find it.

andrew-t97 avatar Apr 21 '20 12:04 andrew-t97

@lennarthaller Could you indicate where the code is for loading the map data? I'm unable to find it.

This function should get you started.

lennarthaller avatar Apr 22 '20 08:04 lennarthaller