Dear isaac_ros_visual_slam developers,
Thank you very much for making isaac_ros_visual_slam package with its source code made publicly available.
I am going through Raffallo Bonghi's webinar (I think it was published a few years ago) on this package and found the detailed walk through of each subsystems very interesting.
I am trying to understand the LMDB databsae (map) module as shown below
However, I couldn't find any information regarding the mapping representation block. Is it a directed chain of keyframes (similar to ORB-SLAM3, GTSAM) or is it something different? Does it have any connection to the costmap based environment representation used by downstream software stack like Nav2?
Best,
@Mechazo11
Dear isaac_ros_visual_slam developers,
Thank you very much for making
isaac_ros_visual_slampackage with its source code made publicly available.I am going through Raffallo Bonghi's webinar (I think it was published a few years ago) on this package and found the detailed walk through of each subsystems very interesting.
I am trying to understand the
LMDB databsae (map)module as shown belowHowever, I couldn't find any information regarding the mapping representation block. Is it a directed chain of keyframes (similar to ORB-SLAM3, GTSAM) or is it something different? Does it have any connection to the costmap based environment representation used by downstream software stack like
Nav2?Best,
@Mechazo11