artifact during mapping

[shashank]

hii
1. i am getting attifact (tiny square box look like camera image or someting) just infront of camera during mapping while viewing the topic /voxel_cloud but if i see just the point cloud directly from zed camera i am not getting that. pics have been attached.
2. there is a warning message /proj_map topic depreciated subscribe to /grid map what does it mean .

pics
1. camera point cloud(note i have rotated point cloud by 90 deg in zed wrapper code)


https://drive.google.com/file/d/0Bz3BfhMrLdoyM1M3a3o2SU5TdEk/view?usp=sharing
2. /(rtab  map gui output)
https://drive.google.com/file/d/0Bz3BfhMrLdoyN3JYWXg5aFJadkk/view?usp=sharing
3. local cost map
https://drive.google.com/file/d/0Bz3BfhMrLdoyS282VVoxYnJQRDg/view (zoom a bit u can see the square box clearly)

4\bag files
https://drive.google.com/file/d/0B9PcG8mxhHGUM3JQR0xSeGdxY2M/view?ts=57efd6c4
https://drive.google.com/file/d/0B9PcG8mxhHGUX3FZbVY3bkRHbEE/view?ts=57ef22d0


thanks

[matlabbe]

Hi,

I cannot reproduce the problem. I'm testing on Indigo/latest code form source (0.11.11). Which ROS distro are you on? Your square looks like the image projection (could it come from the Image plugin?). I assume you are using the latest rtabmap version as you have the /proj_map warning:

/proj_map topic is deprecated! Subscribe to /grid_map topic instead.

Just change /proj_map to /grid_map where subscribed to /proj_map. They are now exactly the same map with same parameters, see:

$ rosrun rtabmap_ros rtabmap --params | grep Grid/

 
How I tested:

$ roscore
$ rosparam set use_sim_time true
$ rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link zed_optical_frame 100
$ roslaunch rtabmap_ros rtabmap.launch depth_topic:=/camera/depth/image_rect_color rgb_topic:=/camera/left/image_rect_color camera_info_topic:=/camera/left/camera_info compressed:=true depth_image_transport:=raw rtabmapviz:=false rviz:=true rtabmap_args:="--delete_db_on_start --Odom/ImageDecimation 2 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2"
$ rosbag play --clock 2016-10-01-00-08-33.bag

  Because of the HD images on my poor laptop, I added some image decimation for odometry and memory update for convenience. To get "depth_image_transport" argument working, you should have the latest version of rtabmap.launch.

Note that you can record compressed depth images too with "/camera/depth/image_rect_color/compressedDepth" topic if it is published.



cheers

[shashank]

hii,
finally i updated the rtab map to latest version. artifacts are still there . Last time i accidentally miss to capture the disparity image (sorry for that) . here is the new bag file can you i have attached.(4 gb file it took a bit of time)  

finally i want to do a vision based navigation using rtab map. The bag file is here
1. https://drive.google.com/file/d/0B9PcG8mxhHGUUldxamNPX1NJRHM/view?usp=sharing

2. The launch file which  i use is here ( i directly use the raw image as the processing is on the same pc)
https://drive.google.com/file/d/0B9PcG8mxhHGUVV9KTG9UUjhYM2c/view?usp=sharing

3 This is my navigation stack
https://drive.google.com/drive/folders/0B9PcG8mxhHGUUTVQNzFnXzYwTEU?usp=sharing


few questions
1. are u using laser scan for loop closures? if yes how
2. once i map a environment . How do i use that map from a .db file for localization.
3. how can use laser and zed both for local cost map generation . The walls flickring a lot with zed camera.


thanks a lot

 

[matlabbe]

Hi,

still cannot see the artifact. Which ROS distribution are you using? Kinetic, Indigo?

Please do "$ rosbag compress mybag.bag" before sharing it.

1. yes you can use scan to refine loop closures. For rtabmap node, set "subscribe_scan" to true (along with /scan topic remap) and param "Reg/Strategy" to 1.

2. For localization mode, you should not use "--delete_db_on_start" argument, then set "Mem/IncrementalMemory" to false. This will load previously created "~/.ros/rtabmap.db" in a read-only manner.

3. You can do something similar to this.

cheers

[shashank]

i am using indigo .

can you  kindly  please share the snapshot .

[matlabbe]

The result is pretty the same than my screenshot above. Can you share the RVIZ config file?

[shashank]

my rviz configuration file.

I cannot see any artifact while subscribing to camera point cloud . but its visible is in /volxel_point cloud.  

https://drive.google.com/file/d/0B5N_gJxysT-FdmNnaThINlFoc0k/view?usp=sharing

[matlabbe]

Hi,

We had the same rviz config. I also tried with 0.11.8 binaries and still no artifact:


This is a very strange bug. Note that voxel_cloud is just for visualization, it is not used for mapping.

[shashank]

can you share the launch file .

[matlabbe]

I was using your launch file EDIT zed_rtabmap.launch.

[shashank]

A update ugrade of ubuntu solved the problem. thanks .

A new problem always  it always prints costmap resizing for local cost map ,No local costmap is being displayed  . Any idea why is this occurring.
Thanks a lot for support .
 

[matlabbe]

If there are no obstacles in the costmap, you may see nothing. See this move_base tutorial page for more info. For all local costmap stuff, it is not related to rtabmap, only global costmap is.

cheers