How to save the maps?

[jumanascimento]

is possible to svae he map and the point cloud to use them in later process?

[EMP-T]

In case you haven't found it already:

System.SaveAtlasToFile: "./example"

in the yaml file should be what you were looking for. It's mentioned on page 9 of Calibration_Tutorial.pdf

[shneka-swamy]

@EMP-T Thanks a lot for your reply. But adding the command to TUM_VI.yaml at the last line gives me a Segmentation Fault. Do you have any idea as to what I might be doing wrong?

Thanks in advance!!

[jumanascimento]

System.SaveAtlasToFile:

Just something that i did not understood, i should pass this parameter in the yaml file that i am using, but what should a pass to the parameter? Should be a file or the path to de location were i want the map to be saved? it was not clear in the calibration_tutorial. And other thing, this parameter will save the point cloud as well or just the map?

[EMP-T]

@EMP-T Thanks a lot for your reply. But adding the command to TUM_VI.yaml at the last line gives me a Segmentation Fault. Do you have any idea as to what I might be doing wrong?

Thanks in advance!!

Could you provide the line that you added to the yaml file?

[EMP-T]

System.SaveAtlasToFile:

Just something that i did not understood, i should pass this parameter in the yaml file that i am using, but what should a pass to the parameter? Should be a file or the path to de location were i want the map to be saved? it was not clear in the calibration_tutorial. And other thing, this parameter will save the point cloud as well or just the map?

You have to provide the path to the file that you want the map to be written to. The extension will be added.

[jumanascimento]

System.SaveAtlasToFile:

Just something that i did not understood, i should pass this parameter in the yaml file that i am using, but what should a pass to the parameter? Should be a file or the path to de location were i want the map to be saved? it was not clear in the calibration_tutorial. And other thing, this parameter will save the point cloud as well or just the map?

You have to provide the path to the file that you want the map to be written to. The extension will be added.

Thanks, I managed to make it work. One last thing, he saved the file as a .osa, is that the only save extension or is it possible to save the file as an .obj for example?

[EMP-T]

System.SaveAtlasToFile:

Just something that i did not understood, i should pass this parameter in the yaml file that i am using, but what should a pass to the parameter? Should be a file or the path to de location were i want the map to be saved? it was not clear in the calibration_tutorial. And other thing, this parameter will save the point cloud as well or just the map?

You have to provide the path to the file that you want the map to be written to. The extension will be added.

Thanks, I managed to make it work. One last thing, he saved the file as a .osa, is that the only save extension or is it possible to save the file as an .obj for example?

I have no idea to be honest. I didn't find any clues in the code though...

[jumanascimento]

System.SaveAtlasToFile:

Just something that i did not understood, i should pass this parameter in the yaml file that i am using, but what should a pass to the parameter? Should be a file or the path to de location were i want the map to be saved? it was not clear in the calibration_tutorial. And other thing, this parameter will save the point cloud as well or just the map?

You have to provide the path to the file that you want the map to be written to. The extension will be added.

Thanks, I managed to make it work. One last thing, he saved the file as a .osa, is that the only save extension or is it possible to save the file as an .obj for example?

I have no idea to be honest. I didn't find any clues in the code though...

ok, thanks for the help anyway

[unicornuniform]

@EMP-T Thanks a lot for your reply. But adding the command to TUM_VI.yaml at the last line gives me a Segmentation Fault. Do you have any idea as to what I might be doing wrong?

Thanks in advance!!

Does anyone have a solution to the segmentation fault issue? Inconsistently, it segfaults for me when saving the map

[shneka-swamy]

The segmentation fault while saving maps (for me) was happening due to the deletion of the items used for iterating through set in Map::PreSave and MapPoint::PreSave. I changed these functions to iterate and delete on different sets.

I made the following changes as mentioned by @heiwang1997 in https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/443#issuecomment-1154814254 to save the maps.

Hope that helps !!

[unicornuniform]

The segmentation fault while saving maps (for me) was happening due to the deletion of the items used for iterating through set in Map::PreSave and MapPoint::PreSave. I changed these functions to iterate and delete on different sets.

I made the following changes as mentioned by @heiwang1997 in #443 (comment) to save the maps.

Hope that helps !!

Thanks. Yes from limited testing on few small maps that I built and saved, the fix seems to work, though I haven't tried on a large one. Iterating through the list while at the same time changing its size seems to be the culprit. Hopefully these changes will make it into the official branch but I don't know if it's being maintained anymore

[altaykacan]

Hey all,

mentioned this on other issues, I shared some code I used to save the point cloud file here.

Just sharing it here so you also get notified, I hope it helps!