Adding RGB-D Topics as Input

[pephabet]

I've just build lvt and ran the launch file. The lvt_node subscribes to these topics:
* /left/image_rect_gray
* /right/image_rect_gray
* /left/camera_info
* /right/camera_info
The issue is I am not using a stereo camera. So I do not have those topics. I am currently using RGB-D camera. How do I make the launch file work with my camera?

[pephabet]

Thanks so much for responding to the issue. I have two rgb depth cameras. An orbbec astra and a real sense D415. I would prefer you try it on the real sense and see if you can get it to work. I appreciate the help on this. Thank you very much.  On Monday, October 7, 2019, 5:50:08 PM GMT+8, Igor <[email protected]> wrote: @pephabet I want try doit too. How camera are you use? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

[alademm]

Hi @pephabet , the ROS node itself right now only listens to stereo messages. However, you should be able to easily update it to listen to your RGB-D ones. In lvt, using RGB-D instead of stereo is very easy, you only need to specify RGB-D as the sensor type when you create the lvt_system, and then pass the correct images to the track() function. Check lvt_system.h.