Rtabmap Noise

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Rtabmap Noise

Hi, I am getting a lots of noise when using LIDAR, Wheel, and Astra camera to map my apartment. When I looped around the living room, I got many layers of wall. Here is my launch file:
  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
  <arg name="launch_prefix"           default=""/>  
  <arg name="output"                  default="screen"/>

  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
          <param name="frame_id" type="string" value="base_link"/>

          <param name="subscribe_depth" type="bool" value="true"/>
          <param name="subscribe_scan" type="bool" value="true"/>

          <remap from="odom" to="/odom"/>
          <remap from="scan" to="/scan"/>

          <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
          <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
          <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

          <param name="queue_size" type="int" value="10"/>

          <!-- RTAB-Map's parameters -->
          <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
          <param name="RGBD/ProximityBySpace"     type="string" value="true"/>
          <param name="RGBD/AngularUpdate"        type="string" value="0.01"/>
          <param name="RGBD/LinearUpdate"         type="string" value="0.01"/>
          <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
          <param name="Optimizer/Slam2D"          type="string" value="true"/>
          <param name="Reg/Strategy"              type="string" value="1"/> <!-- 1=ICP -->
          <param name="Reg/Force3DoF"             type="string" value="true"/>
          <param name="Vis/MinInliers"            type="string" value="5"/>
          <param name="Vis/InlierDistance"        type="string" value="0.1"/>
          <param name="Rtabmap/TimeThr"           type="string" value="700"/>
          <param name="Mem/RehearsalSimilarity"   type="string" value="0.45"/>
          <param name="Grid/NoiseFilteringRadius" type="string" value="0.05"/>
          <param name="Grid/NoiseFilteringMinNeighbors" type="string" value="8"/>
          <param name="Grid/FromDepth" type="string" value="false"/>
          <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>


    <!-- Visualisation RTAB-Map -->
    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">

      <param name="subscribe_rgbd"       type="bool"   value="false"/>
      <param name="subscribe_scan"       type="bool"   value="true"/>
      <param name="subscribe_scan_cloud" type="bool"   value="false"/>
      <param name="frame_id"             type="string" value="base_link"/>
      <param name="odom_frame_id"        type="string" value=""/>
      <param name="wait_for_transform_duration" type="double"   value="0.2"/>
      <param name="queue_size"           type="int"    value="10"/>
      <param name="approx_sync"          type="bool"   value="true"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
      <remap from="rgbd_image"      to="/camera/rgb/image_rect_color"/>
      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
      <remap from="scan"                   to="/scan"/>

      <remap from="odom"                   to="/odom"/>
  <node pkg="tf" type="static_transform_publisher" name="base_to_cam" 
      args="0 0.0 0.25.5 0.0 0.0 0.0 /base_link /camera_link 100" />

  <node pkg="tf" type="static_transform_publisher"  name="base_to_laser"
      args="0.0 -0.01 0.13 0 0 0 /camera_link /laser 100" />
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Re: Rtabmap Noise


In rtabmapviz -> Preferences -> 3D Rendering, you can set a maximum depth for the clouds generated for the map. For Kinect like sensors, I usually use 4 meters max. Far points have more depth error.

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Re: Rtabmap Noise

Does this setting have a parameter that can be set at launch (i.e. listed here?)
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Re: Rtabmap Noise

It depends for what, for /rtabmap/cloud_map, use Grid/RangeMax parameter. For cloud visualization in rtabmapviz or rviz, we should use the parameters of the ui.