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heuristicus / spot_ros

ROS driver for controlling Boston Dynamics' Spot robot
https://heuristicus.github.io/spot_ros/
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Why image size doesn't match the depth size? #103

Closed julianraheema closed 1 year ago

julianraheema commented 1 year ago

I don't know if it is proper to post this ticket here?

Lets say: I have the back camera /spot/camera/back/image and depth /spot/depth/back/image and the camera info's for both camera and depth respectively. I also have /tf topics and /spot/odometery topics. I have been struggling to use rtabmap_ros for the back camera.

camera: rear fisheye camera image: /spot/camera/back/image ---> 640x480 enconding mono8 depth: /spot/depth/back/image ---> 424x240 encoding 16UC1 camra_info: /spot/camera/back/image_info depth_camera_info: /spot/depth/back/image_info

How I can use rtabmap using the fisheye camera and the depth? The goal is to have a 2d or 3d map of a room.

I would appreciate your help and comments.

Thank you.

heuristicus commented 1 year ago

We're getting camera information in these lines:

https://github.com/heuristicus/spot_ros/blob/bb82c29e9d51d12d57d53c8b4d4faecb600a1bc8/spot_driver/src/spot_driver/ros_helpers.py#L131-L147

So, what you're seeing is the data we're receiving directly from the spot SDK.

julianraheema commented 1 year ago

Thank you.