{"action":"created","issue":{"url":"https://api.github.com/repos/ethz-asl/maplab/issues/75","repository_url":"https://api.github.com/repos/ethz-asl/maplab","labels_url":"https://api.github.com/repos/ethz-asl/maplab/issues/75/labels{/name}","comments_url":"https://api.github.com/repos/ethz-asl/maplab/issues/75/comments","events_url":"https://api.github.com/repos/ethz-asl/maplab/issues/75/events","html_url":"https://github.com/ethz-asl/maplab/issues/75","id":342961886,"node_id":"MDU6SXNzdWUzNDI5NjE4ODY=","number":75,"title":"Where should I start if I would like to start a ros node for surface reconstruction using voxblox？","user":{"login":"plumewind","id":25976399,"node_id":"MDQ6VXNlcjI1OTc2Mzk5","avatar_url":"https://avatars1.githubusercontent.com/u/25976399?v=4","gravatar_id":"","url":"https://api.github.com/users/plumewind","html_url":"https://github.com/plumewind","followers_url":"https://api.github.com/users/plumewind/followers","following_url":"https://api.github.com/users/plumewind/following{/other_user}","gists_url":"https://api.github.com/users/plumewind/gists{/gist_id}","starred_url":"https://api.github.com/users/plumewind/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/plumewind/subscriptions","organizations_url":"https://api.github.com/users/plumewind/orgs","repos_url":"https://api.github.com/users/plumewind/repos","events_url":"https://api.github.com/users/plumewind/events{/privacy}","received_events_url":"https://api.github.com/users/plumewind/received_events","type":"User","site_admin":false},"labels":[{"id":765444416,"node_id":"MDU6TGFiZWw3NjU0NDQ0MTY=","url":"https://api.github.com/repos/ethz-asl/maplab/labels/answered","name":"answered","color":"0e8a16","default":false},{"id":762661123,"node_id":"MDU6TGFiZWw3NjI2NjExMjM=","url":"https://api.github.com/repos/ethz-asl/maplab/labels/enhancement","name":"enhancement","color":"84b6eb","default":true}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2018-07-20T03:36:37Z","updated_at":"2018-07-29T22:47:16Z","closed_at":null,"author_association":"NONE","body":"Hi guys,\r\n\r\nI want to create a TSDF grid map using the maplab framework, and I have noticed that this function can be implemented with console commands —— create_tsdf_from_depth_resource. However, I don't know how to visualize the map  throught voxblox in Rviz, and I feel that it is impossible  in maplab.\r\n\r\nIn order to create a TSDF grid map, I want to know how to create a node with the same function as the command create_tsdf_from_depth_resource.\r\n\r\nThanks in advance for any help.\r\n"},"comment":{"url":"https://api.github.com/repos/ethz-asl/maplab/issues/comments/408711578","html_url":"https://github.com/ethz-asl/maplab/issues/75#issuecomment-408711578","issue_url":"https://api.github.com/repos/ethz-asl/maplab/issues/75","id":408711578,"node_id":"MDEyOklzc3VlQ29tbWVudDQwODcxMTU3OA==","user":{"login":"mfehr","id":5071588,"node_id":"MDQ6VXNlcjUwNzE1ODg=","avatar_url":"https://avatars1.githubusercontent.com/u/5071588?v=4","gravatar_id":"","url":"https://api.github.com/users/mfehr","html_url":"https://github.com/mfehr","followers_url":"https://api.github.com/users/mfehr/followers","following_url":"https://api.github.com/users/mfehr/following{/other_user}","gists_url":"https://api.github.com/users/mfehr/gists{/gist_id}","starred_url":"https://api.github.com/users/mfehr/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mfehr/subscriptions","organizations_url":"https://api.github.com/users/mfehr/orgs","repos_url":"https://api.github.com/users/mfehr/repos","events_url":"https://api.github.com/users/mfehr/events{/privacy}","received_events_url":"https://api.github.com/users/mfehr/received_events","type":"User","site_admin":false},"created_at":"2018-07-29T22:47:16Z","updated_at":"2018-07-29T22:47:16Z","author_association":"MEMBER","body":"I edited my answer above, because it was a bit misleading. \r\n\r\nThe pointers I gave you are about directly visualizing a voxblox TSDF map by creating a surface mesh and converting and publishing it as custom voxblox ROS message (which rviz can visualize). Meaning if you add this logic to the reconstruction command you can directly visualize the reconstructions without writing a PLY file.\r\n\r\nRegarding the ros node you are trying to build. If all you want is to automate the process to get from rosbag to reconstruction, the easiest way I can think of is adding the sequence of operations needed (triangulation, relax, loop close, optimize, stereo matching, tsdf integration, surface reconstruction, visualize mesh) to the shutdown section of rovioli, where the map is usually processed into an optimized localization map ([here](https://github.com/ethz-asl/maplab/blob/master/applications/rovioli/src/map-builder-flow.cc#L90))"}}
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