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Hello ROS community,

How to use rgbd-slam with two cameras? I have read http://www.ros.org/wiki/rgbdslam I run rgbd-slam from command line "roslaunch rgbdslam kinect+rgbdslam.launch" and it said: "cannot find kinect device". What should I put into command line in order to say rgbdslam reads frames(images) from two cameras, not from kinect device? Did anyone get success with it?

Also, I have tried to to use bagfiles instead of kinect device to get pre-saved frames(images), however did not get any success. Does anyone have example of using bagfiles?

My enviroment: Ubuntu 11.10 ROS electric 2 cameras

Thanks a lot, Alex


Originally posted by dalspenguin on ROS Answers with karma: 31 on 2012-08-13

Post score: 3

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1 Answer 1

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You need to compute a pointcloud from your stereo vision data, then have rgbdslam listen to the 2d image and the cloud. Set the parameters "wide_topic" and "wide_cloud_topic" to listen to the topics where the respective data is published.

The cloud must be dense, i.e. stored in a 2D grid where each point corresponds to one pixel and vice versa.


Originally posted by Felix Endres with karma: 6468 on 2012-09-06

This answer was ACCEPTED on the original site

Post score: 0

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