LSD-SLAM to PCL

This package is a nodelet that converts LSD_SLAM keyframes into PCL pointclouds (pcl::PointCloud<pcl::PointXYZRGB>).

To build:

cd ~/catkin_ws/src
git clone https://github.com/alexanderkoumis/lsd_slam_to_pcl
cd ..
catkin_make

Using it in a launch file:

<!-- LSD SLAM -> PCL pointcloud converstion -->
<node pkg="nodelet" type="nodelet" name="lsd_slam_to_pcl" args="load LSDSLAMToPCLNodelet nodelet_manager" output="screen">
     <remap from="~input" to="/lsd_slam/keyframes"/>
</node>

Topics lsd_slam_to_pcl/output_points and lsd_slam_to_pcl/output_indices can now be subscribed to as pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr and pcl::PointIndicesConstPtr, respectively.

af-silva/lsd_slam_to_pcl

LSD-SLAM to PCL