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Publishing ROS output? #10

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fairf4x opened this issue Dec 9, 2016 · 1 comment
Closed

Publishing ROS output? #10

fairf4x opened this issue Dec 9, 2016 · 1 comment

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@fairf4x
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fairf4x commented Dec 9, 2016 •
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I was able to compile and run dso_ros (catkin branch) on ROS kinetic. However I noticed that its only output is through PangolinDSOViewer. I would like to use DSO SLAM on a quadrotor equipped with a camera. My main motivation is to have some information about odometry based on camera video stream. It would be also great if I could use the output of DSO SLAM to build map of the environment.
Is it possible to publish geometry_msgs/PoseStamped and sensor_msgs/PointCloud2 from dso_ros?

Ok. I just read the documentation more carefully and find the note about writing custom Output3DWrapper.
@JakobEngel
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I havn't implemented a ROS "standard" output wrapper - If you have a nice ROS-based output wrapper that works e.g. with rviz feel free to pull request it here, and I'll add it to the repo :)

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@fairf4x @JakobEngel