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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

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

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.