Daniele De Gregorio

@adnion , @zhengguoxian123 in the README of SkiMap is shown a simple example called "skimap_live.launch" which just works with a moving TF of the camera (with a fixed world TF)...

@zhengguoxian123 if you launch "skimap_live.launch" in the launch file you have to set the name of the live TF of the camera ("camera_frame_name"), the name of the map TF (odom...

@zhengguoxian123 did you change TF for camera and TF for world?

@adnion SkiMap is not able to manage a Monocular camera as it is because without Depth information is impossible to build a 3D representation for RGB points. If the Slam...

@zhengguoxian123 can you send me a small "bag" file of your context so i can test it on my computer?

@zhengguoxian123 i don't understand very well. If you modified ORBSLAM2 to obtain your custom camera TF you can call it with a custom name, for example "tracked_camera", and broadcast it...

@zhengguoxian123 the SkiMap class has the methods "saveToFile" and "loadFromFile" but you have to reimplement this logic in a custom node. In the next release i will provide a full...

In SkiMapLive the test is made with a Odometry system, so the ZERO reference frame is the first pose of the robot mobile base (so onto ground) the first camera...

Hi @AndreaIncertiDelmonte the fixed frame anyway is wrong because in that BAG the recording is made by means of the mobile robot which starts with the head bent downwards (about...

Yes @JeenQ , you need to separate the two steps: - first you need to transform your Depth in PointCloud. In the node "skimap_live.cpp" is show how to do this...