Visualize rovioli as a ros topic

[neorobo]

Does maplab/rovioli already support outputting the rovioli feature tracking visualization image as a ros topic? If not, any suggestions on how I can add this?

[schneith]

Yes, these visualizations are available; unfortunately they are a bit hidden :)

You can use the following flags to enable these visualizations:

-feature_tracker_visualize_feature_tracks
-feature_tracker_visualize_keypoint_matches
-feature_tracker_visualize_keypoints
-feature_tracker_visualize_keypoints_individual_frames

The images will then be published on a ros topic.

Also for us it is impossible to remember all these features/flags and we usually do a search over the GFlags to find them. In this case I was using:

rosrun rovioli rovioli --help | grep tracker | grep visualize

[mfehr]

There is a section in the wiki about this.

[neorobo]

But those are for BRISK/FREAK features used in maplab no? I'd like to see the ROVIOLI ones that are normally displayed outside of ROS.

[mfehr]

True. There is a way in rovio to visualize the patches but I'm not too sure if this still works after wrapping ROVIO in maplab (=ROVIOLI). The setting is here:

https://github.com/ethz-asl/maplab/blob/master/applications/rovioli/share/rovio_default_config.info#L78

To publish this as a ros topic just try to replace the cv::imshow calls with ros publishers, here:

https://github.com/ethz-asl/maplab_rovio/search?q=cv%3A%3Aimshow&unscoped_q=cv%3A%3Aimshow