Regarding using with RGB-D camera

[ArghyaChatterjee]

Hello,

I had a question regarding using s-graph+ with RGB-D camera. We have a zed camera on the robot. Is it possible to use it with that camera?

Thanks.

[hridaybavle]

Hello @ArghyaChatterjee, yes the basic functionality should work out of the box. You need to assure that the ZED camera is publishing the odometry and setup correctly the tf transforms.

Note: Since the FOV of the ZED camera is less than the 3D LiDAR, the loop closure module will mostly not provide any loop closures.