RGB map from rgb and stereo images input

Posted by spelletier on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-map-from-rgb-and-stereo-images-input-tp9342.html

Hello!

I have been attempting to configure RTABmap using ROS2 and an RGB-D camera. The depth map output from the camera is pretty poor so I have resorted to using the stereo image outputs and allowing rtabmap to create its own depth image which is magnitudes better than the camera.

My problem is that when I have rtabmap subscribe to both the stereo left and right topics, aswell as the rgb image I only am able to get a greyscale map output as if the RGB image is not being used.

Should it be possible to create an RGB depth map using stereo image and rgb image inputs to rtabmap-ros2?

I really appreciate any info pointing me in the right direction!