Rtabmap mapping with two cameras

Posted by adr_arroyo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-with-two-cameras-tp2662.html

Hello everyone!

I am trying to launch rtabmap to map with two cameras, but i do not know how to merge the information given by them from the launch file. The cameras topics are camera_front and camera_back and my launch file is attached. rtabmap.launch

As you can see the file is similar to the default one but i tried to add the two cameras with the param:
< param name="depth_cameras"    type="int"    value="2"/>
However, when it comes to merge them, I do not know how to do it, I just have the rgb topics remapped like this:
        <remap from="rgb0/image"       to="/camera_front/rgb/image_raw"/>
        <remap from="depth0/image"     to="/camera_front/depth/image_raw"/>
        <remap from="rgb0/camera_info" to="/camera_front/rgb/camera_info"/>

        <remap from="rgb1/image"       to="/camera_back/rgb/image_raw"/>
        <remap from="depth1/image"     to="/camera_back/depth/image_raw"/>
        <remap from="rgb1/camera_info" to="/camera_back/rgb/camera_info"/>

but i do not know how to proceed now.

Any help is appreciated!