Re: Clarification on RGB and Depth image has input from Stereo camera

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Clarification-on-RGB-and-Depth-image-has-input-from-Stereo-camera-tp2469p5043.html

When you have the left image and the corresponding depth image, this is like using rtabmap with RGB-D input. From stereo, it is similar to the "Stereo A" approach here. If you need visual odometry, the node rtabmap_ros/stereo_odometry and replace viso2_ros/stereo_odometer node for convenience.

Just to come back on your original question, if your camera can already publish a disparity image, you may modify the camera node to publish directly the depth image (as the camera would have already the calibration info to convert disparity to depth).

cheers,
Mathieu