Using srrg2_proslam without velodyne data

[LoaBe]

Hello,

Thanks for this new version I follow your project since srrg_proslam.

Why do I need the velodyne pointcloud in this version as normally it's only a stera-camera slam ? Is it to create the map?

Thank you for your job.

[istinj]

Hello, I'm sorry I didn't get your problem. To use srrg2_proslam you do not need the LiDAR cloud. Can you please be more specific?

[LoaBe]

Maybe I misunderstood the new operation with srrg2 then. When I run the slam from the srrg2_executor it will use the message.json file with the kitti dataset that uses Pointcloud? Or when I do this "run sync slam" it launches both of the Slam explained on your paper?

I also have a second question. Maybe you can help me. Is it possible to have a same view as on the srrg_proslam with the camera view on the GUI ? (See image in attachment)

Thank you for your help, Loan

[rvp-group]

Hi @LoaBe Consider the message.json file as a message container, like ROSBags. Thus, it stores all the messages that are acquired in the dataset gathering run. Then, in your configuration file, you decide whether to read a message or not depending on the topic you subscribe.

For the second question, you can add as many canvases as you want using the terminal using the command:

add_canvas <canvas-name> <module>

The functionality of camera following is not implemented yet. The top view can be easily achieved moving the view using the cursor.