Is there a way to publish real-time point cloud? about maplab HOT 3 CLOSED

Hi @Doodleshr

You're right, the framework is lacking real-time dense reconstruction capabilities. However, we have used ROVIOLI successfully for this purpose before. There are two options:

• You have an RGB-D camera and get pointclouds:
  • Just combine the ROVIOLI node with a voxblox node.
• You have a stereo camera:
  • Combine the ROVIOLI node with a stereo matcher node and a voxblox node.

Have a look at these links:
https://github.com/ethz-asl/voxblox/blob/master/README.md#running-voxblox
https://github.com/ethz-asl/image_undistort#dense_stereo_node

Hope this helps

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@mfehr thanks for your help!

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Hi @Doodleshr

I am also doing related work now. I plan to use a RGB-D camera to get the point cloud and write a ROS node to complete the construction of the voxel map.

However, the specific process details are somewhat unclear. My general idea is like that :
(1) get the point cloud from the camera
(2) send it to the ROVIOLI node to get the VI map
(3) finally send it to voxblox to get the TSDF grid map (voxel map).
Is this process correct? @mfehr and anyone , thank you very much.

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