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Pickling Pose Graph Optimization Components #6316

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VladimirYugay opened this issue Aug 15, 2023 · 1 comment
Closed
3 tasks done

Pickling Pose Graph Optimization Components #6316

VladimirYugay opened this issue Aug 15, 2023 · 1 comment
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feature request question

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@VladimirYugay
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My Question

The classes PoseGraph, PoseGraphEdge, PoseGraphNode are not pickable (confirmed here). It seems very beneficial to have them pickable since PGO is frequently used in the multiprocessing scenario e.g. SLAM. Is there a way to make them pickable?
@yuecideng
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Hi @VladimirYugay, you can refer to this PR #5509 and feel free to open a new PR to implement the pickle support for these classes.

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@theNded @VladimirYugay @yuecideng