liveframes vs. keyframes

[tum-vision]

liveframes vs. keyframes

[rbarthseas]

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);

[amiltonwong]

@rbarthseas, did you see the corresponding paper? You can find the answer from it.

[rbarthseas]

Hi Amilton,

Thanks for pointing that out that reference. Will read!

Best,
Ruud