olivierdm/pointcloudregistration
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# 1. Quickstart / Minimal Setup
rosrun graph2pcl key2pcl keyframes:=/lsd_slam/keyframes camera_info:=/camera_info
snippert for saving files in full depth
cv::Mat output;
depthImg.convertTo(output,CV_16UC1,65535/maxZ);
std::vector<int> params;
params.push_back(CV_IMWRITE_PNG_COMPRESSION);
params.push_back(0);
cv::imwrite("/home/rosuser/Downloads/depth/"+ boost::to_string(header.seq) +".png",output,params);*/