Re: Navigation with stereo camera only
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-stereo-camera-only-tp9991p10046.html
Hi,
Spurious pixels like that could be filtered with GridGlobal/Eroded=true. Other option would be to look at the local maps created around there causing the obstacle in rtabmap-databaseViewer (3D view). It could be bad disparity estimation. You can also play with Grid/MaxGroundHeight to filter them if they are very close to other points labelled as ground. If you want to tune Grid/ parameters in rtabmap-databaseViewer (Core Parameters -> Grid panel), the most convenient way to avoid reprocessing the map everything time is to use the regenerate local grid menu action:
cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-stereo-camera-only-tp9991p10046.html
Hi,
Spurious pixels like that could be filtered with GridGlobal/Eroded=true. Other option would be to look at the local maps created around there causing the obstacle in rtabmap-databaseViewer (3D view). It could be bad disparity estimation. You can also play with Grid/MaxGroundHeight to filter them if they are very close to other points labelled as ground. If you want to tune Grid/ parameters in rtabmap-databaseViewer (Core Parameters -> Grid panel), the most convenient way to avoid reprocessing the map everything time is to use the regenerate local grid menu action:
cheers,
Mathieu
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