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RGBDSLAM_v2 save Octomap at a particular z value

asked 2017-03-02 16:18:19 -0500

cj gravatar image

As stated in the title, is there a way to save octomap(GUI or commandline) at a particular z value? Is there a way to do it by tweaking either the launch files or source code? If so, where to locate these files?

I am currently running roslaunch rgbdslam openni+rgbdslam.launch, and then saving the octomap using the GUI. The reason why only a particular z value is desired is because the generation of full octomap takes quite some time, and I'm thinking of ways to shorten the time required.

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answered 2017-03-20 10:58:06 -0500

In the rgbdslam_v2 source code, check out the method GraphManager::firstNode(...) in graph_manager.cpp. There, the reference_pose is set (to identity).

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Asked: 2017-03-02 16:18:19 -0500

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Last updated: Mar 20 '17