Adding RGB-D Topics as Input

SAR-Research-Lab / lvt

Lightweight Visual Tracking: A multipurpose visual odometry system.

BSD 3-Clause "New" or "Revised" License

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Adding RGB-D Topics as Input #2

Open pephabet opened 5 years ago

pephabet commented 5 years ago

I've just build lvt and ran the launch file. The lvt_node subscribes to these topics:

/left/image_rect_gray
- /right/image_rect_gray
- /left/camera_info
- /right/camera_info The issue is I am not using a stereo camera. So I do not have those topics. I am currently using RGB-D camera. How do I make the launch file work with my camera?

pephabet commented 5 years ago

Thanks so much for responding to the issue. I have two rgb depth cameras. An orbbec astra and a real sense D415. I would prefer you try it on the real sense and see if you can get it to work. I appreciate the help on this. Thank you very much. On Monday, October 7, 2019, 5:50:08 PM GMT+8, Igor notifications@github.com wrote:

@pephabet I want try doit too. How camera are you use?

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alademm commented 5 years ago

Hi @pephabet , the ROS node itself right now only listens to stereo messages. However, you should be able to easily update it to listen to your RGB-D ones. In lvt, using RGB-D instead of stereo is very easy, you only need to specify RGB-D as the sensor type when you create the lvt_system, and then pass the correct images to the track() function. Check lvt_system.h.