Hello! I have a drone with two ToF depth sensors onboard, publishing both pointcloud and depth image. There is also an RGB camera onboard, and I have camera_info topics for all these sources.
First, I have combined the two pointcloud sources using:
Note that hires is the RGB camera frame ID, and ToF pointcloud data /tof_left_pc_fixed and /tof_right_pc_fixed are in left_tof and right_tof frames respectively. I figured that having the combined pointcloud output in hires would make combining it with color information from the RGB camera easier.
I then passed this point cloud to RTAB-Map with the following arguments:
RTAB-Map creates an uncolored map, and I would now like to include color information from the RGB camera. The combined pointcloud source has a broader field of view than the RGB camera, so I am unsure how to approach this problem. Would I have to "crop" out the pointcloud somehow to make it see the same pixels as the RGB camera? Is there a way to partially color the map where RGB and pointcloud pixels overlap? I have also tried using rtabmap_utils/pointcloud_to_depthimage to convert my combined pointcloud to a depth image, but this does not work and instead throws the error. Here are the launch arguments:
Even though fixed_frame_id is set to odom, I still get this error (it should be looking for hires to odom but the error shows hires to ):
[ WARN] - /cloud_to_depth: [1692077220.677414292, 1691442532.882630568] Could not get transform from hires to after 0.200000 seconds (for stamp=1691442532.544901)! Error=". canTransform returned after 0.201555 timeout was 0.2.".
I am not much experienced with image processing/handling so it probably does not make sense to convert this combined pointcloud to a depth image because its too wide? Given my sensors, I would love to get some suggestions on how RTAB-Map should be structured. If it helps, here is a youtube video showing the pointcloud map created using RTAB-Map and a view of my RGB camera:
If you have a database with point clouds and RGB frames, you export the map point cloud with color using the rtabmap-export tool:
rtabmap-export --scan --cam_projection rtabmap.db
Otherwise, your approach looks good, however, the warning "Could not get transform from hires to after 0.200000 seconds " tells that one of the input topics doesn't have its "header.frame_id" set.
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