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Dense map #147

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Hi,
I think I fixed your dense_map branch. More specifically I fixed the annoying bug while linking against mt_task_queue:

orb_slam2/lib/liborb_slam2_ros.so: undefined reference to TaskQueue::TaskQueue<boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, cv::Mat>::~TaskQueue()

Please see my comments in the code where I made the changes- it should be all clearly explained as to what was wrong. C++ is not my strongest side though, so if you see something silly in my changes, then please let's fix it between us.

It compiles now and even starts up, although I can't at this very moment run it with my realsense camera- I will try that tomorrow.

I really need dense maps out of your orb_slam_2_ros for my research project. Is that all that was needed? Do you think it should work now? It looks like you are not really using your mt_task_queue. The relevant lines have been commented out in DenseMap.cc, DenseMap::AddFrameToMap function:

//task_queue_->AddTask (current_task_id_, 1, DenseMap::FitFrame); //task_queue_->AddTask (current_task_id_, 1, test);

Do you think we could get this working? I'm sure it will be faster to do with your support.

Thanks,
Arturs Elksnis

lennarthaller and others added 30 commits February 9, 2019 18:22
…econfigure .cfg file with the first params from the orb_slam
Fix the coordinate transformation from the orb_slam frame to the ros frame.
…ns a point must have to get into the ros point cloud
…s_camera

Add support for MyntEye S camera
tim-fan and others added 30 commits April 14, 2020 08:43
Add method for getting map transform and pose estimate in a user-specified frame
Removed references to ipubot_slam and replaced with orb_slam2
Fixed bug (missing tf2-geometry) in Dockerfile and added setup.bash sourcing
…ing-deps

Add dependency definition for 'tf2_geometry_msgs' and 'tf2_ros'
…out fixes are in the source files. This gets rid of the issue of 'orb_slam2/lib/liborb_slam2_ros.so: undefined reference to TaskQueue::TaskQueue<boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >, cv::Mat>::~TaskQueue()'
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