How can multiple views of the segments be saved?

[david-villagra]

Hi!

I have been working with SegMap for a while now. And I was wondering now how multiple views of the segments generated could be saved - to be able to visualize them, as presented in the paper from 2018.

So I want all the previous views from the generated segments to be saved. So I changed the flag keeponlylastview in the constructor of the SegmentCloud object, here. But when I tried to run SegMap after that change, this crash happened, in this function:

F0109 11:32:16.064668  6910 segmented_cloud.cpp:60] Check failed: segment_to_add.views.size() == 1u (2 vs. 1) 
*** Check failure stack trace: ***
[segmapper-3] process has died [pid 6829, exit code -6, cmd /home/evildav/ex_segmap_ws/devel/lib/segmapper/segmapper_node __name:=segmapper __log:=/home/evildav/.ros/log/8cd498ac-1a99-11ea-a4c6-305a3a7658b0/segmapper-3.log].
log file: /home/evildav/.ros/log/8cd498ac-1a99-11ea-a4c6-305a3a7658b0/segmapper-3*.log
^C[player-4] killing on exit6612.407766   Duration: 3.332697 / 38.861496               
[visualizer-2] killing on exit
[filter_pcl-1] killing on exit
 [RUNNING]  Bag Time: 1317376612.512662   Duration: 3.437594 / 38.861496               
shutting down processing monitor...
... shutting down processing monitor complete
done

So this leads to the possibility that multiple views are not supported? Or there is another way to be able to save and visualize multiple views of a segment?

Cheers,

David