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kevin-george / lsd_slam

LSD-SLAM
GNU General Public License v3.0
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RGB Pointcloud and Live Camera Tracking on Pointcloud Viewer #12

Open omarabid59 opened 6 years ago

omarabid59 commented 6 years ago

I've added the changes from alexanderkoumis repository for RGB pointcloud visualization.

Also, I've added a nifty feature to toggle Live Camera Tracking on the pointcloud viewer using either dynamic reconfigure or by hitting the m key. For a visualization of this, please see this Wiki.

Finally, I've added the ability to output the rendered pointcloud display as a topic. This is set to disabled by default. To enable, see `lsd_slam_viewer/src/settings.cpp or using dynamic reconfigure.

alexanderkoumis commented 6 years ago

Thank you for this work. I am noticing in the pointcloud publisher you are publishing the raw depth values and not factoring in camera extrinsics (cam_to_world)? Are you accounting for this somewhere else?

alexanderkoumis commented 6 years ago

Can you post a quick screencapture of the pointcloud being published in Rviz?

alexanderkoumis commented 6 years ago

Nice to see this is still being worked on years after it was abandoned by original developers

omarabid59 commented 6 years ago

The pointcloud publisher only outputs the raw values, so there's no camera extrinsic required here. See below for a screenshot of the topic being published in Rviz.

rviz_output

alexanderkoumis commented 6 years ago

Oh okay, got it. I thought this was a pointcloud publisher something akin to https://github.com/alexanderkoumis/lsd_slam_to_pcl, didn't read the commit close enough. Anyways, thank you for your work, like I said I am really glad this project is still alive, one of the best open source RGB -> depth packages out there.