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raulmur / ORB_SLAM

A Versatile and Accurate Monocular SLAM
http://webdiis.unizar.es/~raulmur/orbslam/
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How to visualize the map with color? #41

Closed Po-Jen closed 9 years ago

Po-Jen commented 9 years ago

Hello, in the video below: https://www.youtube.com/watch?t=30&v=HlBmq70LKrQ

There are two versions of map, the first is the one contains dots in red and black http://imgur.com/ra566zO

And another version is colorful http://imgur.com/xn2RG5o

I've tried to find possible topic publishing the colorful version, but I haven't found one. (I've seen /ORB_SLAM/Map_array, but it's a empty topic) Also, I've checked ROS parameters and found nothing related. So I can only get the first version in my Rviz. http://imgur.com/UDXhtgO

Should I modify the code or do something else to see the colorful version? Thanks in advance.

NikolausDemmel commented 9 years ago

The video shows semi dense mapping, which I guess is not yet released as source code yet.

This repo so far seems to only contain the sparse SLAM part.

Po-Jen commented 9 years ago

@NikolausDemmel Thanks. No wonder I cannot find the way to show semi dense map in Rviz.