Re: RGBD Sync Input Dimensions

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Sync-Input-Dimensions-tp8986p9000.html

Hi Will,

interesting observation. Indeed this would be a problem if the depth camera info was used (the resolution of the depth image won't match the resolution set in the depth camera info), but actually the depth camera info is ignored in all rtabmap nodes (they use all rgb camera info and rescale it depending on depth image size, as they all assume that the depth image is registered to rgb image). The "depth_camera_info" is used only when RGBDimage contains stereo data (left and right camera info).

The fix would be to add a camera_info publisher in pointcloud_to_depthimage with the scaled camera_info, then make rgbd_sync subscribing to that republished camera_info. This has been added in latest commits (the new camera_info is now published under output image namespace).

cheers,
Mathieu