ROS 1 Node: Add visualization of TSDF Volume and results #14
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| @@ -116,6 +119,11 @@ class OnlineFusionServer | |||
| Eigen::Affine3d tsdf_frame_to_camera_prev_; | |||
| /** @brief TF frame associated with the TSDF volume. */ | |||
| std::string tsdf_frame_; | |||
| /** @brief Queue that stores images until their transforms are available. This allows for the mismatch in timing | |||
| * between images being published and TFs */ | |||
| std::queue<sensor_msgs::ImageConstPtr> image_queue_; | |||
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Would this be something tf2_ros::MessageFilter could be used for?
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The answer is "probably yes", though I think it can be handled through a new PR rather than a modification to this one.
I added #15 to track this.
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schornakj
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Dec 7, 2019
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Adds a visualizer that publishes the TSDF volume as a bounding box. The results mesh is published when generateMesh is called and is cleared when reset is called. Each of the markers is published on a timer at 1 second intervals.
Here is an example visualization.
