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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Using Lidar with Rtab-map in Winodws c++ based code #891

Closed triplehoon closed 2 years ago

triplehoon commented 2 years ago

I am trying to use both D455 and Lidar in Windows-based system.

Is there any multi-cam example?

I only find ROS examples but, it is tough for me to work with Cpp-based source code without any examples.

matlabbe commented 2 years ago

It is recommended to start with ROS for any custom setup including lidar (see tutorials here). What kind of lidar is it (ring-like or more like a TOF camera)? ROS handles transforms between the sensors (called tf) and sensor data synchronization, which rtabmap library doesn't.

If you hard-code your transforms and manually synchronize your data from the two sensors, you could check this c++ example https://github.com/introlab/rtabmap/wiki/Cplusplus-RGBD-Mapping. See also https://github.com/introlab/rtabmap/blob/master/examples/NoEventsExample/main.cpp for an example without threading (easier to understand and modify).

cheers, Mathieu

triplehoon commented 2 years ago

@matlabbe Thanks, I will hard-code and manually synchronize with those examples.