Geo-referenced Map about semantic_suma

[Chen-Xieyuanli]

Hey @Soini3913,

Thank you for using our code.

For the map saving question, unfortunately, we don't have any plan to implement that function currently. However, there are some ways you could try to get or reconstruct the map by using our code, and more details could be found here.

For adding additional constraints to the optimization, there are also several ways to go. For example, you could add more constraints in the ICP process like what we've done in the semantic ICP. You could also add extra constraint nodes in the graph-optimization. Currently, we only optimize the pose graph once we confirm a loop closure, and you could also exploit better strategies there.

Hope this helps!

[Soini3913]

Hi,

yes, this helps alot. Thanks for the input. :)

[Chen-Xieyuanli]

Hey @Soini3913,

I'm very happy it helps. Since we currently cannot provide any further information about this issue, I would like to close it. Please feel free to ask me to reopen it if needed.

I will also appreciate it a lot if you star&fork this repo or cite the related paper if possible.

Best,