This package is a nodelet that converts LSD_SLAM keyframes into PCL pointclouds (pcl::PointCloud<pcl::PointXYZRGB>).
To build:
cd ~/catkin_ws/src
git clone https://github.com/alexanderkoumis/lsd_slam_to_pcl
cd ..
catkin_makeUsing it in a launch file:
<launch>
<!-- Nodelet manager -->
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen"/>
<!-- LSD SLAM -> PCL pointcloud converstion -->
<node pkg="nodelet" type="nodelet" name="lsd_slam_to_pcl" args="load LSDSLAMToPCLNodelet nodelet_manager" output="screen">
<remap from="~input" to="/lsd_slam/keyframes"/>
</node>
</launch>Topics lsd_slam_to_pcl/output_points and lsd_slam_to_pcl/output_indices can now be subscribed to as pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr and pcl::PointIndicesConstPtr, respectively.