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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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3D keypionts visualiser not showing #985

Open takahiko-hasegawa-hdjp opened 1 year ago

takahiko-hasegawa-hdjp commented 1 year ago

Hi there,

I am using rtabmapviz to see all the keypoints in the 3D graph pane. However it does not show the 3D keypoints and shows only the pointcloud + rgb image combined.

HOw do i enable it so that I can see the feature points mapped to the vizualiser? or if you could tell me which class and function handles the 3D keypoints that would be great.

I am using RGB-D input -> so rgb image and depth image separately

matlabbe commented 1 year ago

To show 3D features from the map, go in Preferences->3D Rendering, scroll down and check Show features under the Map column. image

which class and function handles the 3D keypoints that would be great

do you mean where they are created? They are generated here: https://github.com/introlab/rtabmap/blob/dcbad6a0aa8cb5e7abfbd0375381c4eea0f6294f/corelib/src/Memory.cpp#L4968