Multiple RGBD cameras input sources about rtabmap HOT 5 CLOSED

@kingfolk

FYI there is the official rtabmap forum here: http://official-rtab-map-forum.206.s1.nabble.com/

It's where I ask all my non-issue related questions.

from rtabmap.

You can ask this type of question here, no problems!

If you are using rtabmap_ros, there is a small example here: https://github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_two_kinects.launch

For the constructor of SensorData you are referring:

• rgb: side-by-side RGB images (e.g., it would be 1280x480 for two images of 640x480)
• depth: side-by-side depth images (e.g., it would be 1280x480 for two images of 640x480)
• cameraModels: The CameraModel for each camera. Make sure that localTransform of CameraModel represents exactly the transform from a fixed frame on the robot (e.g., /base_link on ROS). The localTransform should also contains the optical rotation R to put the images in x->forward, y->left, z->up referential. Example: localTransform = T*R, where T is the transformation of the camera from the fixed frame on the robot (e.g., your second camera may have pitch=PI/2 and some translation components) and R the optical rotation (roll=-PI/2, pitch=0, yaw=-PI/2).

cheers

from rtabmap.

Super!
Thank you!

from rtabmap.

Hi Mathieu,

i am wondering how you calibrate two rgbd cameras and get tfs?

thanks!

from rtabmap.

The TFs should be set manually. An automated calibration while mapping with both cameras is not yet implemented.

cheers

from rtabmap.