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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Generating a depth image through scan_cloud #1025

Open AnoushkaThakur opened 1 year ago

AnoushkaThakur commented 1 year ago

Hi,

  1. I am mapping through a camera and 3Dlidar. I want to generate the depth image through my 3Dlidar, since the depth image of my camera is crooked and isn't reliable. i have used the argument : "gen_depth" = true and have also subscribed to scan_cloud instead of scan yet while my mapping gets complete and i view the depth image via the databaseViewer , I can clearly see that the depth image is made through the camera. Even when my 3D map is assembled through the points of 3Dlidar.

2 Is it possible to generate the /rgbd_image with camera and 3Dlidar ?

PFA: Depth image image

matlabbe commented 1 year ago

To use gen_depth option, you should not provide a depth image (subscribe_depth:=false), otherwise gen_depth is just ignored.