Re: rtabmap in 2D mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-in-2D-mapping-tp1702p1751.html

If your cameras are calibrated together it is fine. Make sure the depth is registered to color camera and they are fixed together (RGB and depth cameras move together), then only frame of the rgb camera is required. I was referring to /base_footprint -> /camera_link (if the RGB-D camera is not fixed on the robot), not /rgb_camera -> /depth_camera.