Rtabmap mapping with two RealSense R200 cameras

[Hubble]

Hello everyone!

I am new a user in ROS and Rtabmap. Please help me to connect two RealSense R200 cameras. I studied the demo_two_kinects.launch file and tried write my own. But it does not work. I guess he is very wrong and I guess where there may be problems, but I do not know how to fix them. I attached my *.launch file two_cams.launch and ROS graph rosgraph.svg My work space is: Ubuntu 16.04 LTS, ROS Kinetic 1.12.7 anr RTabMap 0.11.13.

Any help is appreciated!

[matlabbe]

Hi,

What doesn't work? Do you see warning/error messages on terminal?

cheers

[Hubble]

Good time of day,

Thanks for your reply, I was able to start it with the following configuration two_cams.launch. The problem was in settings "Odometry main arguments" block. However, in 50% of cases the system writes that it failed to start the driver of one of the cameras. What could be the reason I not yet found out.

[matlabbe]

Hi,

For the realsense driver failing to start 50% of the time, I cannot help you. You may ask on their github.

Looking at the odometry parameters, you may increase "inlier_distance" to 0.1 so that more feature correspondences are accepted (less chances to be lost).

EDIT
Don't remember if the rgb and depth images of the realsense have the exact timestamps, but if so, it would be better to set "approx_sync" parameter to "false" in rgbd_sync nodelets.

cheers,
Mathieu

[Hubble]

Thank you very much! This advice is very useful. I have another question off topic: is the features detection in RTabMap or Find-Object only based on RGB Image? I mean, are the Depth-Assisted Rectification (DARP/DARC) methods used or similar?

Sorry for my skill English.

[matlabbe]

Hi,

The approach is based only on RGB for object detection. The depth is only used to know where the object is in 3D (after being detected). Thanks for the hint about DARP/DARC, it looks pretty cool.

cheers,
Mathieu