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Comments (2)

WANG-KX avatar WANG-KX commented on June 18, 2024

It can save the map. The node also subscribes a rostopic called "save_map". Just publish a ros message in string with the path you want to save.
Follow the code to know more:

DenseSurfelMapping/surfel_fusion/src/ros_node.cpp

Line 26 in 468fdc7

ros::Subscriber sub_save_map = nh.subscribe("save_map", 1, &SurfelMap::save_map, &surfel_map);
.

One simple example: After all the fusion is done, type the following in your terminal:
rostopic pub /save_map std_msgs/String "/home/user/model.ply"

from densesurfelmapping.

MoonUniverse avatar MoonUniverse commented on June 18, 2024

Thank you very much for your reply!
Map saved successfully!

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