RTABMAP for gray rectified ros stereo image output ?

[mahammadirfan]

Hi team, I am trying to implement rtabmap_ros for gray image output, as the cameras are not RGB, so it gives grey rectified image ros output. Now i am trying to use the stereo gray image ros topic but i am unable to get the slam results. I hope you help me out with this. Could you please confirm, if the rtabmap can be implemented with the gray images from any stereo camera (not RGB) ?

[matlabbe]

It should. You would have errors if the format is not supported. https://github.com/introlab/rtabmap_ros/blob/8fff821a871059e06386a64b0f3446a2f3124c65/src/MsgConversion.cpp#L1995-L2008 https://github.com/introlab/rtabmap_ros/blob/8fff821a871059e06386a64b0f3446a2f3124c65/src/nodelets/stereo_odometry.cpp#L171-L184