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Stereolabs ZED Camera - RTAB-map example

This package shows how to use the ZED Wrapper with RTAB-map

Installation

Follow the install guide

Run the program

To launch the example, open a terminal and launch:

$ roslaunch zed_rtabmap_example zed_rtabmap.launch

Example of indoor 3D mapping using RTAB-map and ZED

Example of indoor 3D mapping

The launch file explained

To correctly use the ZED wrapper with the rtabmap_ros node we need to match the following RTABmap parameters:

  • rgb_topic -> topic of the color information to be associated to the points of the 3D map
  • depth_topic -> topic of the depth information
  • camera_info_topic -> topic of RGB camera parameters used to create the association of each color pixel to the relative 3D point
  • depth_camera_info_topic -> topic of the depth camera parameter, to convert the 2D depth image to a 3D point cloud
  • odom_topic -> name of the camera frame

The values associated to the above parameters are the following:

    <arg name="odom_topic"              default="zed_node/odom" />
    <arg name="rgb_topic"               default="zed_node/rgb/image_rect_color" />
    <arg name="depth_topic"             default="zed_node/depth/depth_registered" />
    <arg name="camera_info_topic"       default="zed_node/rgb/camera_info" />
    <arg name="depth_camera_info_topic" default="zed_node/depth/camera_info" />