Re: rgb and depth image mismatch

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rgb-and-depth-image-mismatch-tp5407p5413.html

Hi,

rtabmap assumes that the depth image is already registered, already in rgb frame, so TF is not used.
 
I don't own an Orbbec Astra Pro. If the IR camera and RGB cameras are independent, you may have to calibrate each camera, then do a stereo calibration to get the pose between both cameras.

You may get some help from this post for Orbbec Astra Pro: https://answers.ros.org/question/310219/astra-pro-registered-point-cloud/

cheers,
Mathieu