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ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework
https://maplab.asl.ethz.ch
Apache License 2.0
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Point cloud in VIO mode #77

Open zhukovv opened 6 years ago

zhukovv commented 6 years ago

Is there a way to get a pointcloud from VI-map online? I have --rovioli_visualize_map enabled, but it publishes a cloud (landmarks) just in the end of the session. I guess because initializeLandmarks is called just in the saveMapAndOptionallyOptimize function. Can I get 3D points in some form during a session - I want to do plane segmentation based on the data.

Thank you!

mfehr commented 6 years ago

Hi @zhukovv As you already pointed out, the landmarks are only initialized (and triangulated) during the shutdown of the estimator. However, @eggerk implemented something similar for some other experiment. The experiment itself was not released, but some of the new tools and algorithms are already in the codebase. Check out algorithms/online_map_builders/, there is a KeyframedMapBuilder in there that keyframes the VIMap while building it (duh) and also initializes the landmarks incrementally. It looks like the keyframing can be disabled. This code is currently untested and was used in another context, so all bets are off. You might be able to use it though with some adaptations to the interface. It would be cool if you could let us know how this turns out :)

zhukovv commented 6 years ago

Hi @mfehr Sounds promising, thank you very much! I'll get back when I have some results :)

drNoob13 commented 5 years ago

Hello @zhukovv,

Were you able to make it work?

Thanks!