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Hi,

rtabmap regenerates the disparity image for visualization, so ignoring the parameters you set for stereo_image_proc. If you want to use the disparity image generated from stereo_image_proc, I recommend to do something similar to Stereo A setup by generating a depth image from the disparity image (with rtabmap_ros/disparity_to_depth nodelet) and then use rgbd_mapping.launch instead of stereo_mapping.launch.

<group ns="/stereo_camera" >
    <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
    <node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap_ros/disparity_to_depth"/>
</group>

Launch:

$ roslaunch rtabmap_ros rgbd_mapping.launch rgb_topic:=/stereo_camera/left/image_rect_color depth_registered_topic:=/stereo_camera/depth camera_info_topic:=/stereo_camera/left/camera_info rtabmap_args:="--delete_db_on_start"

Note that the next rtabmap version will have mostly the same parameters as stereo_image_proc to tune the regenerated disparity image.

Hi,

rtabmap regenerates the disparity image for visualization, so ignoring the parameters you set for stereo_image_proc. If you want to use the disparity image generated from stereo_image_proc, I recommend to do something similar to Stereo A setup by generating a depth image from the disparity image (with rtabmap_ros/disparity_to_depth nodelet) and then use rgbd_mapping.launch instead of stereo_mapping.launch.

<group ns="/stereo_camera" >
    <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
    <node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap_ros/disparity_to_depth"/>
</group>

Launch:

$ roslaunch rtabmap_ros rgbd_mapping.launch rgb_topic:=/stereo_camera/left/image_rect_color depth_registered_topic:=/stereo_camera/depth camera_info_topic:=/stereo_camera/left/camera_info rtabmap_args:="--delete_db_on_start"

Note that the next rtabmap version will have mostly the same parameters as stereo_image_proc to tune the regenerated disparity image.