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Hi, I would like to use multiple ZED stereo cameras for the 3D mapping with RTABMAP. But I notice RTABMAP only supports single stereo camera or stereo camera+laser. Could anyone kindly give me some insights on how to do the multiple ZED cameras mapping? Thank you.
Hi,
Take a look at the multiple Kinect demo launch file.
You would have to remap rgb/depth/camera_info of the zed cameras. Another similar post for ZR300 cameras.
cheers
Hi Thank you for the help. I have rewritten the launch file and run the two cameras simultaneously. I paste the details in my own "answer". I am not sure if the "static_transform_publisher" node is correctly defined since for both cameras, I use the same child_frame_id "zed_center". Is it correct?
emm, I have tried to use the ZED odometry by removing the rgbd_odometry node and remap the "odom" as you suggested based on the same code in my own "answer". But I receive the error "TF of received depth image 0 at time 1509441479.227963s is not set!". I am not sure how to fix...
base_link ->zed_center, as you set, would put both cameras exactly superposed. You would also want to set base_frame (zed1_center and zed2_center), camera_frame and depth_frame of zed_camera.launch to something different for both cameras, otherwise you will have multiple TF having the same name
<launch>
<arg name="zed_rgbd_mode" default="true"/>
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=Frame-to-Map 1=Frame-to-Frame
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-"max_depth" : Maximum features depth (m)
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : Local map size: number of unique features to keep track
-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
-->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="4.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<arg name="odom_info_data" default="true" />
<arg name="wait_for_transform" default="true" />
<group ns="/zed1" >
<include file="$(find zed_wrapper)/launch/zed_camera.launch">
<arg name="zed_id" value="0" />
<arg name="publish_tf" value="false"/>
</include>
<node unless="$(arg zed_rgbd_mode)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_rect_color"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/image_raw" to="right/image_rect_color"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="disparity_range" value="200"/>
</node>
<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager1" args="manager"/>
<node unless="$(arg zed_rgbd_mode)" pkg="nodelet" type="nodelet" name="disparity2depth"
args="load rtabmap_ros/disparity_to_depth camera_nodelet_manager1"/>
<node if="$(arg zed_rgbd_mode)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager1">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth/depth_registered"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<param name="approx_sync" value="false"/>
</node>
<node unless="$(arg zed_rgbd_mode)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager1">
<remap from="rgb/image" to="left/image_rect_color"/>
<remap from="depth/image" to="depth"/>
<remap from="rgb/camera_info" to="left/camera_info"/>
<param name="approx_sync" value="false"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /zed_center 100" />
</group>
<group ns="/zed2" >
<include file="$(find zed_wrapper)/launch/zed_camera.launch">
<arg name="zed_id" value="1" />
<arg name="publish_tf" value="false"/>
</include>
<node unless="$(arg zed_rgbd_mode)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_rect_color"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/image_raw" to="right/image_rect_color"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="disparity_range" value="200"/>
</node>
<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager2" args="manager"/>
<node unless="$(arg zed_rgbd_mode)" pkg="nodelet" type="nodelet" name="disparity2depth"
args="load rtabmap_ros/disparity_to_depth camera_nodelet_manager"/>
<node if="$(arg zed_rgbd_mode)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager2">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth/depth_registered"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<param name="approx_sync" value="false"/>
</node>
<node unless="$(arg zed_rgbd_mode ...Asked: 2017-10-26 05:26:08 -0500
Seen: 1,380 times
Last updated: Nov 01 '17
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