Pls, how do I save the global map?

[Jaywxy]

I'm able to run the program properly, but I want to get the final global map. How do I modify the code? Or is there an interface to save global maps?

[Chen-Xieyuanli]

Hey @Jaywxy, thanks for using our code. We so far didn't implement a function to save the global map, but you could have a look at variable surfels_ which stores all the surfels of the map.

You could get the surfels_ by:

semantic_suma/src/core/SurfelMap.h

Line 67 in b58d880

glow::GlBuffer<Surfel> getModelSurfels() { return surfels_; }

[Jaywxy]

ok.Thanks for your reply.

[kslam1]

I want to remove all movable objects ，But I don't know where to add the code. Can you tell me？Thanks

[kingskymoon]

Hey @Jaywxy, thanks for using our code. We so far didn't implement a function to save the global map, but you could have a look at variable surfels_ which stores all the surfels of the map.

You could get the surfels_ by:

semantic_suma/src/core/SurfelMap.h

Line 67 in b58d880

glow::GlBuffer<Surfel> getModelSurfels() { return surfels_; }

Hello, thank you for proposing a solution to save the point cloud. I want to save the color point cloud. I modified VisualizerWindow:: renderMaps(), but the result is not correct. All colors are similar to gray, (40, 40, 40)

        int r =  surfel_it->r*255.0;
        int g =  surfel_it->g*255.0;
        int b =  surfel_it->b*255.0;
        float w =  surfel_it->w;
        points_file << pose_world.x() << " " << pose_world.y() << " " << pose_world.z() <<" "<<surfel_it->color<<" "<<r<<" "<<g<< " "<<b<<" "<<w<< std::endl;