How to generate thermal colored map
Hello everybody,
I want to generate thermal colored 3D-maps with RTAB-Map.
At the moment, the matching between the thermal camera and the Asus Xtion Pro depth image is done in an own node which publishes the mapped image.
I modified the cloudFromDepthRGB-function in util3D.cpp to set the RGB on a fixed value and saw that I get a single colored cloud while everything else seems to be / is working. So, my idea is to replace the RGB information in cloudFromDepthRGB with the thermal one but what is the easiest way to get the thermal image to this position (synchronized)?
Am I right, that it would be the easiest to extend the SensorData and Signature with the thermal image and subscribe to it in the CoreWrapper.cpp and RGBDOdometryNode.cpp where SensorData and Signature get filled (as far as I understand) or could I do it on a more easier way?
Thanks for your help,
F4B1
Do you work on a open source software atm? Your code could be interesting, I wanted to have a thermal pointcloud as well. I created a node for the cheap Thermapp Android Thermal Camera ( https://github.com/Hacks4ROS/h4r_ther... ). Do you have a repo of what you are doing on github?
Generally it's open source and I could post it on github but its under developement and everything else than cleaned up. I think I'm able to upload it in some weeks.