When skimap was integrated with ORBSLAM it used the skimap service. Is that to say ::
1-the service was called from ORBSLAM (could be called from ros_rgbd.cc)
2- that ORBSLAM only passed it tracking points or did it pass a full dense cloud.
3- If integrated using skimap service then publishing a tf or pose independently is still needed since skimap does not do this but only publishes the markers.
When skimap was integrated with ORBSLAM it used the skimap service. Is that to say ::
1-the service was called from ORBSLAM (could be called from ros_rgbd.cc)
2- that ORBSLAM only passed it tracking points or did it pass a full dense cloud.
3- If integrated using skimap service then publishing a tf or pose independently is still needed since skimap does not do this but only publishes the markers.