registeres thermal data with asus xtion depth image
How to install / use with rtabmap for thermal 3D mapping:
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install openni2 for ASUS Xtion
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clone maskor/maskor_gige_cam to ~/catkin_ws/src and follow the install instructions inside the package if you want to use a FLIRA325sc for example
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clone maskor/rtabmap/fnicolai/thermal_mapping to ~/rtabmap
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clone maskor/rtabmap_ros/fnicolai/thermal_mapping to ~/catkin_ws/src
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clone maskor/maskor_thermal_mapper to ~/catkin_ws/src
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run the INSTALL.sh in ~/catkin_ws/src/maskor_thermal_mapper
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launch the maskor_thermal_mapper.launch launchfile to generate thermal 3D maps