Using 3D .pbstream file to load prior

[david...@gmail.com]

Hi,

One more quick question: I ran the new demo to create a 2D map, then run pure localization in it using the prior stored in a .pbstream file. I tried to repeat the same procedure with a 3D offline cartographer node and was able to create the .pbstream file, but I have been unable to load the map and run pure localization as is done in the 2D example. When I try to do so, I get the error "Check failed: trajectory_options.has_trajectory_builder_3d_options()". Does this mean that this is not currently possible, or am I missing something?

Thanks!
David

[Damon Kohler]

Hi David,

Pure localization is not yet implemented in 3D.

https://github.com/googlecartographer/cartographer/blob/7434e963697c2876add9658e1ff1af6399589215/cartographer/mapping_3d/sparse_pose_graph.h#L89

Damon

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