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2016-04-27 22:04:59 -0500	asked a question	bumblebee2 resolution cannot change in ROS, with pointgrey_camera_driver-master package The default resolution is 1024x768, and I cannot change it to 640x480, which is desired to gain better real-time performance. My comuper is Ubuntu 14.04 x86_64, and ROS distro is Indigo. I use package poitgrey_camera_driver of ROS. I want to know whether bumblebee2 only supports format7_mode3 mode.Thank you.
2016-04-18 22:41:01 -0500	answered a question	how to builde a map in a real time using orbslam2? You may need the following two steps: First, you launch a camera driver node, which publishes image topic. Meanwhile, the raw image topic should be rectified with image_proc node, which may need a calibration file provided by you. Second, compile the ROS mono example in ORB-SLAM2, and then run this node and set its subscribed topic to the above rectified image topic.