Issue with Stereo_mapping with drone.

[minato_99]

Hello matlabbe,

I have created the map with the drone. However, the some parts of the 3D map seems to be shifted vertically creating not so clear 3D map. I have attached the image. 2D map seems to be okay. However, if there is some parameter that I need to change, please let me know. I have uploaded the database as well.





Database:

https://drive.google.com/file/d/1qMLwJkzctNtKvNG7uMLwH7fCCwK4XCHF/view?usp=drive_link

Thanks,
minato_99

[matlabbe]

The main reason is that you are using Reg/Force3DoF=True while the robot is moving in 6DoF. Set Reg/Force3DoF to False. Also, I recommend to set Kp/MaxDepth=0 instead of 2m.

[minato_99]

Hello matlabbe,

The results are better now. Thanks for your help.
How do you think I should proceed with the  localization  and  navigation when both rover and drone in the same environment? Which map should I use? The map  by the rover is better than the combined map of rover and drone. Thanks.

Sincerely,
minato_99

[matlabbe]

You could load the rover map into the rtabmap running for the drone in localization mode by setting explicitly "Reg/Force3DoF=False" .

The rover could still use its map "as is" with Reg/Force3DoF=True.

Other option is to use Reg/Force3DoF=False for both rover and drone.

cheers,
Mathieu