Does rtabmap support unfixed tf of multiple cameras?

[ztszhang]

I have two cameras, one for RGBD approch, the other for visual inertial approch (VINS-Fusion enabled odometry). The TF between cameras are not fixed, i.e. the TF may change though it is always known by joints between cameras. Could I run RTABMAP in multi-camera mode using this device?

[matlabbe]

Yes it is possible, make sure the dynamic links between the cameras in TF is published faster than the camera frame rate. For example, if you have a TF tree like this:

               camera1_rgb_optical
              /
              camera1_link
             /
             arm1_joint3
            /
            arm1_joint2
           /
           arm1_joint1
          /
base_link
          \
           arm2_joint1
           \ 
            arm2_joint2
            \
             arm2_joint3
             \
              camera2_link
              \
               camera2_rgb_optical

The arm joints could move around while you do visual odomerty with both cameras. Make sure you set frame_id of rgbd_odometry to base_link. Note that I have never did this myself, but the code should support that.

cheers,
Mathieu