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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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Stereo and Point Cloud Mapping #868

Open MizzouRobotics opened 1 year ago

MizzouRobotics commented 1 year ago

Hey @matlabbe! Love the work that you've put into this. I was looking towards applying both stereo and point-cloud mapping into the same system with the hopes of getting both loop closure detection alongside the vast information of point cloud mapping. I noticed that whenever I set both of these to be active, stereo overrides the input, and I was wondering if there may be any possibility to extend this functionality in the future.

matlabbe commented 1 year ago

You should have access to both stereo and point cloud data in the final database. I have used stereo + LiDAR in the past, where stereo was used only for loop closure detection (or lidar cloud coloring), everything else (occupancy grid, point cloud, odometry refining) done with lidar data.

I noticed that whenever I set both of these to be active, stereo overrides the input

Are you referring to using subscribe_stereo and subscribe_scan_cloud at the same time with rtabmap node? If so, this is normal, I don't allow this with stereo data. subscribe_depth and subscribe_scan_cloud is also not recommended. You should use subscribe_rgbd with subscribe_scan_cloud to use both at the same time. You can use stereo_sync node to sync your stereo data (left/right images/camera info) into a rgbd_image topic that you feed to rtabmap node.