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Hi, I would like to use multiple ZED stereo cameras for the 3D mapping with RTABMAP. But I notice RTABMAP only supports single stereo camera or stereo camera+laser. Could anyone kindly give me some insights on how to do the multiple ZED cameras mapping? Thank you.


Originally posted by Cole on ROS Answers with karma: 61 on 2017-10-26

Post score: 1

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Hi,

Take a look at the multiple Kinect demo launch file.

You would have to remap rgb/depth/camera_info of the zed cameras. Another similar post for ZR300 cameras.

cheers


Originally posted by matlabbe with karma: 6409 on 2017-10-26

This answer was ACCEPTED on the original site

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Original comments

Comment by Cole on 2017-10-27:
Hi Matlabbe,

Thank you so much for the insight. May I know if I would like to use the ZED odometry, how can I revise the launch file accordingly. :)

cheers

Comment by matlabbe on 2017-10-29:
Remove rgbd_odometry node, then remap the zed's odom topic in rtabmap/rtabmapviz nodes: <remap from="odom" to="/zed_camera1/odom"/>

Comment by Cole on 2017-10-31:
Hi Thank you for the help. I have rewritten the launch file and run the two cameras simultaneously. I paste the details in my own "answer". I am not sure if the "static_transform_publisher" node is correctly defined since for both cameras, I use the same child_frame_id "zed_center". Is it correct?

Comment by Cole on 2017-10-31:
emm, I have tried to use the ZED odometry by removing the rgbd_odometry node and remap the "odom" as you suggested based on the same code in my own "answer". But I receive the error "TF of received depth image 0 at time 1509441479.227963s is not set!". I am not sure how to fix...

Comment by matlabbe on 2017-11-01:
base_link ->zed_center, as you set, would put both cameras exactly superposed. You would also want to set base_frame (zed1_center and zed2_center), camera_frame and depth_frame of zed_camera.launch to something different for both cameras, otherwise you will have multiple TF having the same name

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