Re: stereo example

Posted by matlabbe on Oct 26, 2024; 8:19pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/stereo-example-tp10512p10599.html

Hi,

here is the related pull request: https://github.com/introlab/rtabmap/pull/1366

you said OctoMap is not required if you just want to see a point cloud , i thought octomap turn the point cloud to voxels then icp handle the merge , so i can increase the resolution of it

OctoMap is not used by ICP, it provides a 3D occupancy grid for planning and/or obstacle avoidance. When using ICP, there is another parameter called Icp/VoxelSize that can be applied to input point clouds before doing ICP. With stereo cameras, you are likely not using ICP (I don't recommend it). ICP would be used only with TOF cameras or LiDAR.

how to open odometry window like the GUI with the red and green dots ?

Do you mean " how to do it in your cpp code"? You may look at how this example works.

i want to ask something not related the what we were talking about , i wonder if there laser projection pattern algo to make better point cloud ? or binary code single shot  ? in ( RTAB map )  

Structured light sensor like original Kinect for xbox 360 can indeed improve depth quality over pure stereo. Other option is a semi-random IR dotted pattern to improve depth estimation with standard stereo disparity algorithms (like realsense cameras).

is there a discord channel for rtab map ?

No, I cannot give real-time advices, otherwise I would have no life :)

Regards,
Mathieu