Have a nice day!
I have implemented a 3D photo function that is computational not very intensive. It gets triggered by pressing a key when a snapshot is wanted. By that it is possible to add a big Point Cloud around the map as you can see here:
Now writing needs to be finished, code needs to be commented and cleaned up – last two weeks already begun.
Today is the day of the first accurate aMoSeRo map. I tried several slamming algorithms e.g. the hector_mapping package, but data has been to bad. So after reviewing nearly all my code, fixing a lot of unit issues and publishing rates, today the first map has been created, which really is a map of the place I am living!