Re: Is it possible to use different cameras for RGB and Depth?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Is-it-possible-to-use-different-cameras-for-RGB-and-Depth-tp8580p8590.html

Hi,

By depth registration, it means to get 1 on 1 correspondence between color pixel and depth pixel. Examples on this page.

Other resources: http://wiki.ros.org/openni_launch/Tutorials/ExtrinsicCalibrationExternal

It could be done by doing a stereo calibration between color camera and IR stream of the depth camera. The above link does that. Once you get the 3x4 transformation matrix from the stereo calibration between the optical lens of the RGB camera and the optical lens of the depth camera, you can use rtabmap_ros/pointcloud_to_depthimage as explained in above post.

cheers,
Mathieu