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-tp1214p1254.html

Hi,

The part "depth_registered_topic:=/camera/depth/image_rect_color" seems odd, as depth images don't have colors. Make sure you are subscribed to right depth image topic.

In general for outdoor stereo mapping, RTAB-Map should track most visual features under 10-15 meters (assuming a baseline between the cameras around 10-11 cm) to work appropriately. Another thing to check is if the depth image is good (camera is calibrated). You can open RVIZ with only the camera node running and show the point cloud of the camera (you can use DepthCloud plugin to test your topics above).

cheers