Re: implementing rtabmap_drone_example in real drone

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/implementing-rtabmap-drone-example-in-real-drone-tp10688p10737.html

Hi,

Samim-17 wrote

To use infra1+depth images, will the remapping of rgb_topics to infra1 will work ?

Yes

Samim-17 wrote

About the re-stamp of the VO poses before sending to PX4, I am doing rosrun the same offboard.src file of rtabmap_drone_example. If the re-stamp is already done in the code what do you mean, I couldn't understand ?

That may not a re-stamping issue then.

Samim-17 wrote

IN my current setup, I am passing /camera/color/image_raw and /camera/color/camera_info and /camera/aligned_depth_to_color/image_raw topics. Should I change this to image_rect_raw topics lke this or is it fine ?
when doing rostopic hz on all color topics I get like 15hz but on the aligned_depth_color topics I get like 5-6 hz.
But on the /camera/depth/color topics I get 20hz. Which topic you would suggest to use on rpi4b and d435 camera setup.

In any cases, you should send rectified images to rtabmap, though some camera drivers may publish /camera/color/image_raw as rectified. Doublecheck how much /camera/color/image_raw and /camera/color/image_rect_raw are different.
I don't know what represents /camera/depth/color, but you should use the depth image aligned with the rgb camera. If you use infra1 instead, you can use original depth that is already aligned with that camera.