Skimap with synthetic data about skimap_ros HOT 5 CLOSED

cv::Mat TWC = camera_pose.inv();
cv::Mat RWC= TWC.rowRange(0,3).colRange(0,3);
cv::Mat tWC= TWC.rowRange(0,3).col(3);

tf::Matrix3x3 M(RWC.at<float>(0,0),RWC.at<float>(0,1),RWC.at<float>(0,2),
                RWC.at<float>(1,0),RWC.at<float>(1,1),RWC.at<float>(1,2),
                RWC.at<float>(2,0),RWC.at<float>(2,1),RWC.at<float>(2,2));
tf::Vector3 V(tWC.at<float>(0), tWC.at<float>(1), tWC.at<float>(2));
tf::Quaternion q;
M.getRotation(q);
q.normalize();

tf::Transform transform = tf::Transform(M, V);

static tf::TransformBroadcaster br;
br.sendTransform(tf::StampedTransform(transform,ros::Time(0),"world","camera"));`

<arg name="camera" default="camera" />

<node name="skimap_live" output="screen" pkg="skimap_ros" type="skimap_live">

    <!-- Generic Parameters -->
    <param name="hz" value="10" />

    <!-- Topics Parameters -->
    <param name="camera_rgb_topic" value="/camera/rgb/image_color" />
    <param name="camera_depth_topic" value="/camera/depth/image" />

    <!-- Cloud parameters  -->
    <param name="point_cloud_downscale" value="1" />

    <!-- RGB-D Parameters -->
    <param name="fx" value="535.4" />
    <param name="fy" value="539.2" />
    <param name="cx" value="320.1" />
    <param name="cy" value="247.6" />
    <param name="rows" value="480" />
    <param name="cols" value="640" />
    <param name="camera_distance_max" value="3" />
    <param name="camera_distance_min" value="0.45" />

    <!-- Mapping parameters -->
    <param name="base_frame_name" value="world" />
    <param name="camera_frame_name" value="camera" />
    <param name="map_resolution" value="0.05" />
    <param name="min_voxel_weight" value="200" />
    <param name="ground_level" value="0.05" />
    <param name="agent_height" value="1.5" />
    <param name="enable_chisel" value="false" />
    <param name="chisel_step" value="30" />
    <param name="height_color" value="true" />



</node>

<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find skimap_ros)/rviz/skimap_live.rviz" />