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It is possible to use stereo only with rgbdslam, I have tried it and it worked on gazebo stereo camera plugin, although results was bad, ilalgorithm was hardly able to find matches between images
![]() | 2 | No.2 Revision |
It is possible to use stereo only with rgbdslam, I have tried it and it worked on gazebo stereo camera plugin, although results was bad, ilalgorithm algorithm was hardly able to find matches between images
![]() | 3 | No.3 Revision |
It is possible to use stereo only with rgbdslam, I have tried it and it worked on gazebo stereo camera plugin, although results was bad, algorithm was hardly able to find matches between images
EDIT:
As Ken_in_JAPAN asked in comments I'll try to tell you how I did it. I take into account that you have already compiled and launch rgbdslam package. I used gazebo_ros_multicamera
plugin to generate synchronised image streams. Then I used stereo_image_proc
package to generate point clouds and redirected them to the rgbdslam package.
I digged into my workspace and found launch file I used, here is a part of it:
<param name="config/topic_image_mono" value=""/> <!--could also be color -->
<param name="config/topic_image_depth" value=""/>
<param name="config/topic_points" value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->
<param name="config/camera_info_topic" value="/front_cam/left/camera_info"/>
<param name="config/wide_topic" value="/front_cam/left/image_rect_color"/>
<param name="config/wide_cloud_topic" value="/front_cam/points2"/>
I left first three params empty and used only left image for colors and cloud topic from stereo_image_proc
. I think that was all required to at least start it up.
After fondling with algorithm parameters, I did not achieve any good results with rgbdslam
and later used viso2_ros
stereo odometry node which was able to match point clouds a lot better. At least this was the case for me.
I hope that helps at least a bit, you can ask me if something is unclear.