Re: How to utilize D455 sensor to colorize 3d point cloud map created using lidar

Posted by dinossht on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-utilize-D455-sensor-to-colorize-3d-point-cloud-map-created-using-lidar-tp10438p10443.html

Thank you Mathieu!

If I were to opt for applying color offline, what is the best way to add the color images to the database? Currently I run pure icp odometry and odometry slam for mapping. And add rgb topic to the SLAM node?


[UPDATE]
I got it seemingly to work by adding rgb and camera_info topics, and setting subscribe_rgb=true. Also adding approx_sync=true