Re: RTABMAP ROS with bag files

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-ROS-with-bag-files-tp3556p3572.html

Hi,

Sebb wrote

To solve the lack of camera_info data, I also got a separated bag files which I am launching at the same time as my 3D camera bag data but it does not seem to solve my issue.

The timestamps in input topics are important. They are used to synchronize incoming data. Using a second rosbag may be a problem because camera_info timestamps would not match the ones in image topics. If you are using rtabmap Kinetic or source version, you should see warnings on the terminal telling you that input topics cannot be synchronized or are not received.

Not sure to understand how you can have registered depth images without having already a camera info matching the RGB camera. When recording bags, camera_info sent by the camera driver should be recorded along the images (so that timestamps match).

cheers,
Mathieu