Overview
This PR introduces a new feature that enables orb_slam3_ros to retrieve keypoints from tracked images (2D pixel coordinates) and subsequently publishes them as a ROS topic (as PointCloud2, where z is 0 for each point). This enhancement is aimed at providing external modules with access to keypoints for various applications such as enhanced post-processing, analytics, or other vision tasks.
Changes
Extended the internal functions of ORB-SLAM3 to capture and store keypoints from tracked images.
Integrated a new ROS publisher within the orb_slam3_ros node to broadcast these keypoints on /orb_slam3/tracked_key_points topic.
Overview This PR introduces a new feature that enables
orb_slam3_ros
to retrieve keypoints from tracked images (2D pixel coordinates) and subsequently publishes them as a ROS topic (as PointCloud2, where z is 0 for each point). This enhancement is aimed at providing external modules with access to keypoints for various applications such as enhanced post-processing, analytics, or other vision tasks.Changes
ORB-SLAM3
to capture and store keypoints from tracked images.orb_slam3_ros
node to broadcast these keypoints on/orb_slam3/tracked_key_points
topic.