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Rgbdslam doesn't send the features. The topic you mention is for visualization of the poses only.
I've recently wrote a addition to send ORB features on a custom topic, but haven't published it, because I thought there wouldn't be any demand. If you have some ROS and C++ skill, I can create a branch for you that should be easily adapted to SIFT.
| | 2 | No.2 Revision |
Rgbdslam doesn't send the features. The topic you mention is for visualization of the poses only.
I've recently wrote a addition to send ORB features on a custom topic, but haven't published it, because I thought there wouldn't be any demand. If you have some ROS and C++ skill, I can create a branch for you that should be easily adapted to SIFT.
[Update:]
Checkout the new branch feature-msg-output on github. It works for sending out ORB features on the topic /rgbdslam/features.
The message msg/Feature.msg defines a uint8[] descriptor. For SIFT (or SURF) you probably want to change that to float32[] descriptor
In node.cpp, method Node::toFeatureMessage() you need to reflect that change, by replacing unsigned char with float. And replace the CV_8UC1 in the if-condition by CV_32FC1.
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