RGBD Sync Input Dimensions

Posted by willat343 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Sync-Input-Dimensions-tp8986.html

Hi,

I have a pointcloud_to_depthimage node producing a decimated depth image (at 484 x 304) being synced with the original rgb image (at 968 x 608) and accompanying info message (also 968 x 608). The decimation is there because my lidar is only 16 channel, and it can be computationally taxing to perform the depth filling operations at the original image size.

I have noticed that the RGBDImage messages contain incorrect depth info since the nodelet uses one camera_info to set both info structures in the message.

Does the rgbd sync nodelet require all inputs to be of the same dimensionality in order to produce a valid RGBDImage?

Cheers,
Will