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m4nh / skimap_ros

Ros implementation of Skimap
GNU General Public License v3.0
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If depth map is not in meters but mm #13

Closed rnunziata closed 6 years ago

rnunziata commented 6 years ago

If depth map is not in meters but mm say 5000 to a meter. Is there anyway for skip map to work with these metrics.

m4nh commented 6 years ago

It s a good idea to transform measurements in meters because the resolution of a large scale map in millimeters leads to a very huge Memory footprint.

rnunziata commented 6 years ago

thanks. I modified a line 498 in skimap_live to adj to camera measure using parameter....is this a good way to do this? depth_p[j] = float(depth_mm_p[j])/mapParameters.depthMapFactor;

m4nh commented 6 years ago

@rnunziata i think its ok... but is to remind you that the "skimap_live" is just an example node that we made for testing purposes; instead in the simple Tutorial was explained how to use SkiMap with your custom software (ROS or ROS not).. so if you want to use Skimap with your custom business logic ("unfortunatelly") you have to design your own software.. So modifying "skimap_live" is good but is not the best solution for you :)