Re: RGBD Sync Input Dimensions

Posted by willat343 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Sync-Input-Dimensions-tp8986p9002.html

Hi Mathieu,

Thanks for your informative reply.

I have been using the `rtabmap_ros/point_cloud_xyzrgb` nodelet to visualise what this `RGBDImage` looks like (as a pointcloud) before going into the main `rtabmap` node. However it too only uses the rgb camera_info stream, so this nodelet generates incorrect pointclouds when the depth and rgb images/info are scaled differently (from decimation).

It probably makes sense to make this nodelet subscribe to a depth camera_info (e.g. out of `pointcloud_to_depthimage`) as well as `rgbd_sync`, if this has not already been done in the latest commits you mentioned.

Cheers,
Will