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appliedAI-Initiative / orb_slam_2_ros

A ROS implementation of ORB_SLAM2
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Extract a point cloud from the saved map #52

Open mandelyoni opened 4 years ago

mandelyoni commented 4 years ago

Hi Lennart, how are you? Is there an easy way to extract a point cloud from the saved map? Thanks !!

abhileshborode commented 4 years ago

When you load the saved map during localisation just echo /orb_slam2_stereo/map_points or view it on Rviz which contains the poincloud of the map.

lennarthaller commented 4 years ago

If you want to have a standalone program you could also just take the code which loads the map data structure from this repo and then write something small which writes to CSV or what ever you need. Does that answer your question?

andrew-t97 commented 4 years ago

@mandelyoni did you ever figure out a way of doing this?

andrew-t97 commented 4 years ago

@lennarthaller Could you indicate where the code is for loading the map data? I'm unable to find it.

lennarthaller commented 4 years ago

@lennarthaller Could you indicate where the code is for loading the map data? I'm unable to find it.

This function should get you started.