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tum-vision / dvo

Dense Visual Odometry
https://vision.in.tum.de/data/software/dvo
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Extract odometry data #3

Open ghost opened 11 years ago

ghost commented 11 years ago

Hello,

Looks like it doesn't publish ros odometry directly. Is it inside /dvo_vis/update? What's the best way to extract that? Thanks!

christiankerl commented 11 years ago

You can easily add this to the publishPose(...) method in dvo_ros/src/camera_dense_tracking.cpp

https://github.com/tum-vision/dvo/blob/fuerte/dvo_ros/src/camera_dense_tracking.cpp#L322