Re: Outdoor Stereo Mapping with ZED 3D camera

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Outdoor-Stereo-Mapping-with-ZED-3D-camera-tp1214p1217.html

Hi,

With the ZED camera you have two choices:

1) Use RGB and Depth topics, then feed them to rgbd_mapping.launch like the RGB-D mapping tutorial:

$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/camera/rgb/image_rect_color depth_registered_topic:=/camera/depth/image_rect_color camera_info_topic:=/camera/rgb/camera_info

2) Use Left and Right topics, then feed them to stereo_mapping.launch like the Stereo mapping tutorial:

$ roslaunch rtabmap_ros stereo_mapping.launch rtabmap_args:="--delete_db_on_start" stereo_namespace:="/camera" right_image_topic:="/camera/left/image_rect_color"

You may also want to start the ZED launch with VGA resolution to reduce processing time.

cheers