Odom Topic

[nurimertvural]

Hi,
I've built the package, and it's working well but it does not publish odometry. I need odometry( or at least one pose topic) to build EKF. Is it possible for you to make the package publish odom topic or at least tell me how the cursor in Dense mapping move so that I can rewrite that part in order for package to publish an odom topic?

Thanks

[alejocb]

Hi @nmv45 ,

You can publish the pose and time stamp of the current frame after the system calls the function 'optimize_camera_pose' in semidensetracking.cpp. The pose of the current frame (from world to frame) is 'semidense_tracker->R' and 'semidense_tracker->t' and the time stamp is 'stamps_aux'.

Hope this helps,
Alejo.