Support for Orbbec cameras

[henriquenunez]

Hello, I have a pair of orbbec cameras and I want to try adding support for them. Any tips?

[rlabs-oss]

without direct support in the rtabmap app, capture the RGB + Depth images from the camera and use them via RGB-D image input specifying the rgb and depth folders that contain the images. An RGB calibration is needed before processing.

[henriquenunez]

Ok. RGB calibration = camera intrinsics matrix?

[rlabs-oss]

Orbbec Astra is supported via openNI2

[henriquenunez]

Not for multi camera as far as I've tested. I will test again and let you know.

[henriquenunez]

Just fyi, I am trying to add support specifically to the Astra S U3 sensor, that falls in a gray zone when it comes to openNI, and their support is a bit weird (even with their own drivers). Take a look

[matlabbe]

Orbbec is supported through openni2:

for multi-cameras, you should use ROS, there is an example there: https://github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_two_kinects.launch

I don't own an astra S U3 sensor, so if it is not compatible OpenNI2 by default, it would be difficult to me to make the driver in the standalone. When a driver is not available in the standalone, a workaround is to use the camera under ROS (if they provide a ROS driver) then just connect the right topics to rtabmap node. See multiple examples here: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping and http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping