Re: Unable to replicate RTABMAP standalone performance launching the nodes myself

Posted by hagenoneill on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Unable-to-replicate-RTABMAP-standalone-performance-launching-the-nodes-myself-tp9699p9829.html

Hello, sorry for the delayed response!

for context, this is roughly our current working setup:



I am trying to set up the IR+generated depth, however I'm not sure what parameters need to be set to do this. I tried enabling the infra2 param in the realsense camera and remapping those to the rgbd_sync nodes but it isn't working.

matlabbe wrote

Try using left IR image with depth aligned to Left IR camera (non-aligned depth should be aligned with left camera)

What parameters and remappings do I need to perform to accomplish this? And in what nodes do those parameters and remappings belong?