Re: Kinect For Azure / L515 - ICP (lighting invariant mapping)

Posted by matlabbe on May 04, 2021; 1:28am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Kinect-For-Azure-L515-ICP-lighting-invariant-mapping-tp7187p7887.html

@David9696 You could do the same in ROS. Launch rtabmap node with T265 odometry as input, and feed L515 data for RGB/depth images. Make sure to adjust static TF between L515 and T265.

@quizzy5889 To get RGB color in point cloud while doing ICP for odometry, just set "IR mode" checkbox to false under RealSense2 group in Source panel.