Using a monocular camera to run rgbdslamv2 about rgbdslam_v2 HOT 5 OPEN

May I ask if the operation of rgbdslamv2 must include/tf topics？

from rgbdslam_v2.

Hm, good question. rgbdslam_v2 relies on the topics being synchronized by message_filters (using message_filters::sync_policies::ApproximateTime). Maybe computing the depth image takes too much time?

Do you get the message from this line of code? with the appropriate topics?

If so, the next thing to check if you get callbacks to this callback method. Do you see its log messages?

from rgbdslam_v2.

Tf shouldn't be required for the monocular case. You may see warnings, that a standard transformation from a base coordinate frame (Z points upwards) to a camera coordinate frame is assumed (where Z is forward).

from rgbdslam_v2.

Hi @zhangjd1029:

I am also trying to deploy rgbdslamv2 on Ubuntu 20.04 with ROS noetic. I have been having issues with the PCL and OpenCV versions as well as the compiler option for PCL. I am currently using PCL 1.1 which requires C++14 or greater and OpenCV 4.2.

Could you provide what version of PCL and OpenCV you are using?

Thanks,
Liam

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If you guys get it running, I'd be interested in a pull request. Please bear with me, if I don't respond timely though.

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