ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
You need to compute a pointcloud from your stereo vision data, then have rgbdslam listen to the 2d image and the cloud. Set the parameters "wide_topic" and "wide_cloud_topic" to listen to the topics where the respective data is published.
The cloud must be dense, i.e. stored in a 2D grid where each point corresponds to one pixel and vice versa.