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lukasvst / dm-vio-ros

ROS wrapper for DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
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Publish map in ROS #10

Closed JensCallewaert closed 1 year ago

JensCallewaert commented 1 year ago

Hello. First of all congratulations and thank you for making this.

I have something I would like to do, but I get stuck doing it. I would love to publish the point cloud that gets generated to a ROS topic, so I can visualize the generation inside FoxGlove and save the map to reuse later on.

Would you be able to tell me where I can find the stuff I need to publish?

It would help me a lot. Thank you.

lukasvst commented 1 year ago

Hi, thanks!

You can find some directions in this issue comment: https://github.com/lukasvst/dm-vio/issues/34#issuecomment-1333844474 As you are using ROS you can just override publishKeyframes in https://github.com/lukasvst/dm-vio-ros/blob/master/src/ROSOutputWrapper.cpp and publish the relevant information to a topic of your choice.

You can also take inspiration in how pointcloud publishing was implemented in LSD-SLAM: https://github.com/tum-vision/lsd_slam/blob/master/lsd_slam_core/src/IOWrapper/ROS/ROSOutput3DWrapper.cpp

JensCallewaert commented 1 year ago

Thanks for the info, I'll see what I can pull off.