Multiple stereo camera Isaac ROS vslam

[azmyin12]

Hi @Raffaello, would a stereo camera count as a multi camera system in isaac_ros_visual_slam package?

[Raffaello]

Hi @azmyin12

I moved your question to a new topic. The topic you wrote about was old and spoke about an old Isaac ROS version.

From the Isaac ROS vlsam documentation: isaac_ros_visual_slam — isaac_ros_docs documentation

ROS Parameter	Type	Default	Description
Functional Parameters
num_cameras	int	2	Number of cameras used. Set to 2 for a single stereo camera. Maximum value is 32.

A stereo camera is counted as a set of 2 cameras.

And also another good reference cuVSLAM — isaac_ros_docs documentation

cuVSLAM does not just work with a single stereo camera. It is possible to use up to 32 cameras (=16 stereo cameras) as input. Using multiple cameras can significantly increase robustness, especially in featureless environments.

I hope I helped you.

Best,
Raffaello

[azmyin12]

Hi @Raffaello

Thank you very much for moving this to a separate post. Based on the previous post, you mentioned, at that time, the map saving feature for multi camera was not supported in cuVSLAM. Is this still the case?

Best,
@azmyin12

[Raffaello]

Hi @azmyin12 , now the multi camera support is available from Isaac ROS 3.0

You can find an example here: Tutorial for Multi-camera Visual SLAM Using HAWK Cameras — isaac_ros_docs documentation

Best,
Raffaello