[Help] How to generate the dense map?

[DapengFeng]

Dear Dr. Xu,

After running the demo, we obtain the following visualization results with the sparse map. We have a question about generating a dense map by modifying the config file, like the teaser figure shown in the readme.

Yours, Dapeng.

[xuhao1]

For quad-cam, you may take a look at https://github.com/HKUST-Aerial-Robotics/D2SLAM/blob/main/quadcam_depth_est/launch/depth-node.launch For using realsense camera, we directly use depth generated by camera