Comments (3)
In the source code I see that it is not filled with a pointcloud (see below). Hence only pointclouds are published at keyframes?
lsd_slam_viewer::keyframeMsg fMsg;
fMsg.id = kf->id();
fMsg.time = kf->timestamp();
fMsg.isKeyframe = false;
memcpy(fMsg.camToWorld.data(),kf->getScaledCamToWorld().cast<float>().data(),sizeof(float)*7);
fMsg.fx = kf->fx(publishLvl);
fMsg.fy = kf->fy(publishLvl);
fMsg.cx = kf->cx(publishLvl);
fMsg.cy = kf->cy(publishLvl);
fMsg.width = kf->width(publishLvl);
fMsg.height = kf->height(publishLvl);
fMsg.pointcloud.clear();
liveframe_publisher.publish(fMsg);
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@rbarthseas, did you see the corresponding paper? You can find the answer from it.
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Hi Amilton,
Thanks for pointing that out that reference. Will read!
Best,
Ruud
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