Stereo vision SLAM

[noone]

hello i wrote a code with openCV to load the stereo camera parameters , open 2 webcams , then rectifiy , then Compute the disparity map , then Compute 3D coordinates of the point , then Get the color of the point from the left image , then used PCL to Add the point to the point cloud  , now i want to use RTAM-Map to make Stereo SLAM so i can track camera post to do 3D mapping in real time so how to do it ? any guidance please ?  or am i doing it wrong (talking about the steps i made ) ?

[matlabbe]

For static depth estimation, using "2 webcams" may be fine, however with SLAM (in motion) it won't work if the cameras are independent cameras even if they are rigidly fixed, because they are likely to not be time synchronized. I'll suggest to buy a stereo camera.

cheers,
Mathieu