How to generate or save a new gmm map about gmmloc HOT 2 CLOSED

Thanks for the replying!
Maybe I could dig into the code and find some ways to utilize the semi-dense map points generated by the SLAM pipeline .

from gmmloc.

Hi, thank you for your interest in our work. Regard to the gmm map, we generate it from dense geometric structure with off-the-shelf clustering methods in sklearn. Specifically, for Vicon Room sequences, we use dense point cloud from Leica scanner as input for gmm generation, which is provided by the dataset. To avoid memory overhead, we divide the pointcloud into several segments, and then perform clustering on each segment and merge them together.

I am sorry that currently we don't have a systematic pipeline for scalable gmm generation in this project. So if you would like to try this code out in other scenarios, you might need to generate a gmm map and convert it into the format same as in this repo with the api you mentioned.

Hope this helps!

from gmmloc.