How to convert a sequence of images to a rosbag and detect the loop closures?

[Raksha]

Hello!

I have a sequence of images. How can i convert the images to a rosbag and detect the loop closures using rtabmap?

How can i write a launch file for the same?

Thanks,
Raksha

[matlabbe]

Hi Raksha,

You may stream your images directly over ROS, then you have the choice to record a rosbag from that or use them directly with rtabmap (without rosbag), see this example: https://github.com/introlab/rtabmap/wiki/Stereo-mapping#process-a-directory-of-stereo-images-in-ros

cheers,
Mathieu