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Hi Mathieu,
I have successfully installed RTAB-Map on my Ubuntu PC. Thanks for your help.
In the last several weeks, I installed my stereo camera on a P3DX and record some video in ros bag format. I separated each frame as a picture and use the stereo image list as input for your RTAB-Map.
I test your program with a rotation test case, which means the camera rotates around a fixed point with a small radius (about 5 cm). I observed a continuous drift on Z direction. So I guess the camera is not calibrated with the P3DX well and there may be a rolling around the X axis. So I changed the value of local_transform and it does not effect the result. I also browsed the code, the local transform is not used for stereo slam.
Could you tell where I am wrong?
Best regards
Yanming
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