# Revision history [back]

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.

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.