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Simplemap save/load problem

Sun, 10/23/2011 - 04:07 — tgaaly

Im using CMetricMapBuilderICP to build up a map from depth scans. When the map is built it is rendered correctly in the win3D window.

but when I do the following after the whole map has been built:

mapBuilder.saveCurrentMapToFile("temp.simplemap",false);

mapBuilder.loadCurrentMapFromFile("temp.simplemap");

The newly loaded map shows up and looks like a complete mess. It has what looks like depth scan obsevations put on top of each other. Check the attached image.

If anyone has any idea why this could be happening please let me know.

Thanks,

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Sun, 10/23/2011 - 17:15 — jlblanco
jlblanco's picture

Hi, 

When you load the CSimpleMap it only contains a view-based map (=pairs observations/poses), and they must be loaded into any metric map. 

It seems to me that the problem here may be related to the options of those metric maps. If in the original program they were set by loading from a ".ini" config file, try loading exactly the same parameters.