Depth image from thermal camera

[alexr]

Hi,

Is it possible to generate the depth from the thermal camera. Our project has an outdoor vehicle equipped with velodyne, industry grade IMU and high precision GPS with a thermal camera.
The camera images look something as attached. We do not have any stereo on the vehicle but I want to try RTABMAP with this setup. Can you help me with this.

https://www.dropbox.com/s/bx1fggl02vh2tet/Screenshot_crop.jpg?dl=0
Thanks.

[matlabbe]

The thermal image is not a depth image. It could be used to provide the RGB image (as grayscale maybe) alone, without depth or stereo if you have external accurate odometry.

cheers,
Mathieu

[alexr]

Hi

What I mean was that can I use the velodyne and the image from the thermal camera + rgb camera to produce a depth image. If I remember correctly rtabmap has a node to produce depth images using velodyne. Any suggestions with this setup. I have a 32 layer Lidar.

Thanks a lot for your time.

[matlabbe]

See this post: http://official-rtab-map-forum.206.s1.nabble.com/3D-Mapping-with-Lidar-Camera-tp5848p5859.html

EDIT: In our case, you may use icp_odometry to get odometry with the velodyne alone, then feed the thermal+depth from scan to rtabmap for visual loop closure detections.