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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Publish map points to a ROS topic #1066

Open barovjt opened 1 year ago

barovjt commented 1 year ago

I would like to publish the map points to a /Mono/PointCloud2 topic, but I don't where to find them.

I have been looking at here but when I try to install the node, it crashes.

I could get the mappoint in the interface ORB_SLAM2 gives us. mampoints-pasillo002 mappoints-cubiculo mappoints-pasillo001

I know the MapPoints are generated here and the header is here, but i would like to create a publisher to publish them in a /Mono/PointCloud2 topic.

Does any one help me please?

thank you all :D