rtabmap Kinect2 室内三维重建命令记录

 roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true

rosrun tf static_transform_publisher 0 0 0 -1.57079632678966 0 -1.5707963267948966 camera_link kinect2_link 100

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info