Dense map #147
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Dense map #147
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…econfigure .cfg file with the first params from the orb_slam
… the r200; adjust the readme
This reverts commit 3c6c96e.
Fix the coordinate transformation from the orb_slam frame to the ros frame.
…ns a point must have to get into the ros point cloud
…s_camera Add support for MyntEye S camera
added TUM2 launch and config file
…e different from the camera frame
Add method for getting map transform and pose estimate in a user-specified frame
Add ZED2 launch file
Removed references to ipubot_slam and replaced with orb_slam2
Update orb_slam2_zed2_stereo.launch
…sh_gba_status Publish GBA status
Fix typo on README
Fixed bug (missing tf2-geometry) in Dockerfile and added setup.bash sourcing
…ing-deps Add dependency definition for 'tf2_geometry_msgs' and 'tf2_ros'
…om Node.h and from cv.
…out fixes are in the source files. This gets rid of the issue of 'orb_slam2/lib/liborb_slam2_ros.so: undefined reference to TaskQueue::TaskQueue<boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, cv::Mat>::~TaskQueue()'
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Hi,
I think I fixed your dense_map branch. More specifically I fixed the annoying bug while linking against mt_task_queue:
orb_slam2/lib/liborb_slam2_ros.so: undefined reference to TaskQueue::TaskQueue<boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, cv::Mat>::~TaskQueue()Please see my comments in the code where I made the changes- it should be all clearly explained as to what was wrong. C++ is not my strongest side though, so if you see something silly in my changes, then please let's fix it between us.
It compiles now and even starts up, although I can't at this very moment run it with my realsense camera- I will try that tomorrow.
I really need dense maps out of your orb_slam_2_ros for my research project. Is that all that was needed? Do you think it should work now? It looks like you are not really using your mt_task_queue. The relevant lines have been commented out in DenseMap.cc, DenseMap::AddFrameToMap function:
//task_queue_->AddTask (current_task_id_, 1, DenseMap::FitFrame); //task_queue_->AddTask (current_task_id_, 1, test);Do you think we could get this working? I'm sure it will be faster to do with your support.
Thanks,
Arturs Elksnis