socket_publisher

This repository contains a customized version of stella-cv/socket_publisher.

Original socket_publisher does not re-send loop keyframes to socket_viewer that are published by the SLAM systems.

We wanted all keyframes including loop ones to read out from the SLAM systems, because they are needed to draw completely camera moving locations on a map.

We provide socket_extractor which extracts and outputs all keyframe locations from the map information published by the SLAM systems. This customized version of socket_publisher assumes to be used with it instead of original one.

Installation

Source code

The source code can be viewed from this GitHub repository.

Cloning the repository:

git clone -b 0.0.1-resend_loop_keyframes --recursive https://github.com/ketus-ix/socket_publisher.git

Dependencies

Same as original socket_publisher.

See this stella_vslam document.

Prerequisites

Same as original socket_publisher.

See this stella_vslam document.

Build instructions

After doing the stella_vslam build procedure.

# When building with support for SocketViewer
cd ~/lib
git clone -b 0.0.1-resend_loop_keyframes --recursive https://github.com/ketus-ix/socket_publisher.git
mkdir -p socket_publisher/build
cd socket_publisher/build
cmake -DPATCH_RESEND_LOOP_KEYFRAMES=ON -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j
sudo make install

Adding the cmake option -DPATCH_RESEND_LOOP_KEYFRAMES=ON enables re-sending loop keyframes feature in this socket_publisher. The built one with enabling this option can be used with the socket_extractor.

You can use this socket_publisher with also socket_viewer regardless of whether or not the PATCH_RESEND_LOOP_KEYFRAMES option is enabled.

License

This module was originally included in xdspacelab/openvslam. Therefore, the license follows the original license of xdspacelab/openvslam (BSD 2-Clause).