Re: Few questions regarding stereo mapping with RTAB ROS

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Few-questions-regarding-stereo-mapping-with-RTAB-ROS-tp5589p5603.html

Hi,

1. Yes, it seems a good camera for robust visual odometry.

2. This camera may comes already with a visual-inertial odometry approach, you could set visual_odometry to false and use the odometry topic coming from intel camera (set as odom_topic). "visual_odometry" to true means that rtabmap_ros/stereo_odometry node with be created to compute odometry, otherwise topic set in odom_topic is used as odometry to rtabmap node. To fuse with wheel odometry, you would have to set publish_tf to false for stereo_odometry node, maybe better to use the example here instead of the launch file to better change the parameters.

3. RTAB-Map generates depth image from stereo using cv::StereoBM algorithm. It is relatively safe as long there are textures on the objects. A white wall would not be detected.

4. Ideally, we would want to be able to track features everywhere in the FOV of the camera. It would still work though.

cheers,
Mathieu