Deploying Map Saving Extension with ORBSLAM2 GUI
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I was able to run the extension in real time with an Intel D435 depth camera. I modified some of the launch files to read the correct YUML file for my camera. I am able to deploy RVIZ and visualize both the map and the frame with the feature detection segmentation. I was wondering if there is a way to keep the original GUI from OrbSlam2 and having it deploy automatically on start up. I am attaching my files and command to start the process.
$ roslaunch realsense2_camera rs_rgbd.launch $ roslaunch orb_slam2_ros orb_slam_D435.launchAlso, I understand that the map is saved in binary format, what information is included in the file? I am trying to convert it into PCD format for viewing with other software. I am able to read the .bin data in Matlab but the data does not make sense. It is not XYZ and the number of points is not a factor of 3. is there something I am missing?
Also, I understand that the map is saved in binary format, what information is included in the file? I am trying to convert it into PCD format for viewing with other software. I am able to read the .bin data in Matlab but the data does not make sense. It is not XYZ and the number of points is not a factor of 3. is there something I am missing?
i dont want to sound redundant but did you manage at least to lower the size of the pointcloud to be able to see it at least in cloudcompare?