Re: Rtabmap mapping with two cameras

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-with-two-cameras-tp2662p2726.html

Hi,

You should use the remapping found in your demo_two_kinects.launch version.

In particular this on the latest version:

<param name="subscribe_depth"  type="bool"   value="false"/>
<param name="subscribe_rgbd"   type="bool"   value="true"/>
<param name="rgbd_cameras"    type="int"    value="2"/>

<remap from="rgbd_image0"       to="/camera1/rgbd_image"/>
<remap from="rgbd_image1"       to="/camera2/rgbd_image"/>

For how the occupancy grid maps are created, I'm currently writing a paper which will include this. That paper does standard 2D ray tracing with laser scans, but rtabmap_ros has more options (more or less robust to dynamic environments) depending on the sensor used and computing power available.

cheers,
Mathieu