introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Support for Orbbec cameras #887

Open henriquenunez opened 2 years ago

henriquenunez commented 2 years ago

Hello, I have a pair of orbbec cameras and I want to try adding support for them. Any tips?

rlabs-oss commented 2 years ago

without direct support in the rtabmap app, capture the RGB + Depth images from the camera and use them via RGB-D image input specifying the rgb and depth folders that contain the images. An RGB calibration is needed before processing.

henriquenunez commented 2 years ago

Ok. RGB calibration = camera intrinsics matrix?

rlabs-oss commented 2 years ago

Orbbec Astra is supported via openNI2

henriquenunez commented 2 years ago

Not for multi camera as far as I've tested. I will test again and let you know.

henriquenunez commented 2 years ago

Just fyi, I am trying to add support specifically to the Astra S U3 sensor, that falls in a gray zone when it comes to openNI, and their support is a bit weird (even with their own drivers). Take a look image

matlabbe commented 2 years ago

Orbbec is supported through openni2: Screenshot from 2022-10-23 19-55-47

for multi-cameras, you should use ROS, there is an example there: https://github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_two_kinects.launch

I don't own an astra S U3 sensor, so if it is not compatible OpenNI2 by default, it would be difficult to me to make the driver in the standalone. When a driver is not available in the standalone, a workaround is to use the camera under ROS (if they provide a ROS driver) then just connect the right topics to rtabmap node. See multiple examples here: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping and http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping