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-tp2469p5149.html

Hi Felix,

rtabmapviz doesn't subscribe to /cloud_map. It subscribes to /mapData and reconstruct the cloud incrementally on its side using parameters of Preferences->3D Rendering. It does the same as MapCloud display in RVIZ. The Grid parameters won't affect those clouds. To set parameters of rtabmapviz on start, you can set a default config file as arguments (like rviz):

<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d my_config.ini">
   ...
</node>

By default, the config file in "~/.ros/rtabmapGUI.ini" is created/loaded when launching rtabmapviz. You may modify the parameters in Preferences->3D Rendering, then save the config and copy "~/.ros/rtabmapGUI.ini" to "my_config.ini" so you can use it afterwards like above.

For example, you can see demo_robot_mapping.launch where we feed a custom config file.

cheers,
Mathieu