EricLYang
commented
8 years ago If you want to make this work, you have to revise keyframe_mapper.cpp.
keyframe_mapper.cpp use service to enable generating map, what you can do is to enable real time KeyframeMapper::publishKeyframeData(int i).
It works, however, as general SLAM based on SURF, it is quite slow, but with stable result.
If want to implement real time, try to use GPU and short term loop-closing.
In RViz, I can view the PointCloud and an image from the KinectSensor. When I move the camera, I don't get a map created as the one demonstrated in the video on https://youtu.be/YE9eKgek5pI. I've been trying to get it to work for multiple days. Any advice would be greatly appreciated.