Re: Linking multiply cameras?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Linking-multiply-cameras-tp2077p2126.html

Hi,

You can use the existing nodelets like depth_image_proc/point_cloud_xyzrgb or rtabmap_ros/point_cloud_xyzrgb (the difference is that the later has pre-image decimation option for faster point cloud generation if you don't need all points and voxel filtering option).

If you do a nodelet to merge the point clouds, you could put both nodelets in the same nodelet manager, so that there is just a memory copy (even just pointer copy) between the nodelets.

Otherwise, look at their code to reconstruct a point cloud from depth and rgb images.

cheers