Large volumes (hundreds of millions of voxels) with few empty voxels don't successfully serialize into messages because they're too big, even after improvements were made to storage efficiency.
Option 1: Take another pass at improving the efficiency of the TSDF message. Currently stores 32 bits of TSDF data and 3 16-bit row/col/sheet coordinates. Might be better to save as a map with the coordinate as the key.
Option 2: Save to a file on the disk instead of packaging as a message. Added benefit of giving better access to intermediate processing steps. Would need to restructure how get_mesh service works.
Large volumes (hundreds of millions of voxels) with few empty voxels don't successfully serialize into messages because they're too big, even after improvements were made to storage efficiency.
Option 1: Take another pass at improving the efficiency of the TSDF message. Currently stores 32 bits of TSDF data and 3 16-bit row/col/sheet coordinates. Might be better to save as a map with the coordinate as the key.
Option 2: Save to a file on the disk instead of packaging as a message. Added benefit of giving better access to intermediate processing steps. Would need to restructure how get_mesh service works.