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uzh-rpg / rpg_svo_example

Example node to use the SVO Installation.
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export feature tracks from svo2 #38

Closed JzHuai0108 closed 6 years ago

JzHuai0108 commented 6 years ago

Hi Zichao,

we are implementing the active exposure control algorithm proposed in your ICRA17 paper. To evaluate the exposure control method, the feature track distribution diagram as in Fig. 10 of your paper seems to us a revealing tool. To prepare data for the diagram, we are looking to record ros messages of feature tracks with the svo2 package kindly provided by you. As we look through the svo2 package, the closest clue we find is function publishBundleFeatureTracks which plots the point features matched between two back-to-back frames onto the current frame bundle. Other than that, we don't see functions or message types that are relevant to publishing feature tracks in terms of ros messages. So we wonder,

  1. is it possible to export feature tracks from svo2 package?

  2. If not, can you please advise on alternatives with which the feature track data can be obtained?

JzHuai0108 commented 6 years ago

No worry. It is solved with the versatile translucent svo2 wrapper, rpg_svo_example.