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thien94 / orb_slam3_ros_wrapper

A ROS wrapper for ORB-SLAM3. Focus on portability and flexibility.
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How to build a point cloud map in RVIZ? #36

Open z1wwww opened 1 year ago

z1wwww commented 1 year ago

Thanks for your code.i am a novice.I have successfully run and displayed point cloud on RVIZ,but how to superimpose these point clouds to build a point cloud map?

thien94 commented 1 year ago

Hi @z1wwww , thank you for your question.

Technically, the whole point cloud map is already available within ORB-SLAM3's internal system (you can view them by enabling Pangolin view). The issue is that the V1.0 version does not provide an API to obtain this full point cloud map. I wrote more in detail in this answer https://github.com/thien94/orb_slam3_ros_wrapper/issues/7#issuecomment-888166636

I have implemented the necessary changes in this package https://github.com/thien94/orb_slam3_ros if you want to try it out. Otherwise, if you are looking for a way to combine (merging and stitching) individual clouds, I think this answer is a good starting point https://stackoverflow.com/a/39917345.

z1wwww commented 1 year ago

Thank you for your detailed answer. I want to ask you some questions about the code. I read your code . In stereo_inertial_node.cc, I noticed SyncWithImu( )： while((tImLeft-tImRight)>maxTimeDiff && imgRightBuf.size()>1) It will judge whether the number of elements is greater than 1. Under what circumstances will it be greater than 1?