No color images, only grayscale images about rtabmap HOT 4 CLOSED

In RGB-D mode, you may see the camera jumping more and drifting more when you make a loop.

Yes, I have found out about it, but I just need color image even there will be some problems.

from rtabmap.

Is that on standalone? You can change the parameters there to use RGB-D mode instead:

However, on D435i the odometry accuracy will be worst because the RGB camera has smaller FOV and has a rolling shutter (not totally sure if RGB camera is perfectly in sync with ir cameras too). On D455, it can be okay as they use a different RGB camera (with global shutter), but never experienced myself.

from rtabmap.

Is that on standalone? You can change the parameters there to use RGB-D mode instead:

However, on D435i the odometry accuracy will be worst because the RGB camera has smaller FOV and has a rolling shutter (not totally sure if RGB camera is perfectly in sync with ir cameras too). On D455, it can be okay as they use a different RGB camera (with global shutter), but never experienced myself.

Thank you for your response. I successfully obtained the color image. Regarding odometry accuracy, I don't have any other cameras and have no way to verify it.

from rtabmap.

In RGB-D mode, you may see the camera jumping more and drifting more when you make a loop.

from rtabmap.