Re: 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-tp2662p2722.html

Hello again,
apparently in this new indigo version (downloaded from github) the remapping has changed. I mean, for using 2 cameras before I had to use:

<param name="depth_cameras"    type="int"    value="2"/>
<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 know when I launch the rtabmap with this it says that I must use

<param name="rgb_cameras"    type="int"    value="1"/>
<remap from="/rtabmap/rgb/image"       to="/camera_front/rgb/image_raw"/>
<remap from="/rtabmap/depth/image"     to="/camera_front/depth/image_raw"/>
<remap from="/rtabmap/rgb/camera_info" to="/camera_front/rgb/camera_info"/>		     

So when I try to add two it doesnt work:

<remap from="/rtabmap/rgb0/image"       to="/camera_front/rgb/image_raw"/>
<remap from="/rtabmap/depth0/image"     to="/camera_front/depth/image_raw"/>
<remap from="/rtabmap/rgb0/camera_info" to="/camera_front/rgb/camera_info"/>
<remap from="/rtabmap/rgb1/image"       to="/camera_back/rgb/image_raw"/>
<remap from="/rtabmap/depth1/image"     to="/camera_back/depth/image_raw"/>
<remap from="/rtabmap/rgb1/camera_info" to="/camera_back/rgb/camera_info"/>

What is the remapping to use?

In addition, I would like to ask you if you have published some paper regarding the topic on how rtabmap buils the maps (not about the loop closure detection) since I will try to make a comparison between some mapping softwares and it is important to know the concept behind the mapping.

Cheers