Re: RGB-D Mapping with Laser scanner

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-Mapping-with-Laser-scanner-tp25p1357.html

Hi,

There is no calibration process to align the RGB-D camera and the laser scanner. The URDF or static transforms are manually set. I can use RVIZ to show up the laser scans and point cloud of the RGB-D camera at the same time, then I refine TF manually so that points of the laser match with those of the RGB-D sensor.

You can also look at this approach to find the RGB-D sensor's position on the robot: http://wiki.ros.org/openni/Contests/ROS%203D/Automatic%20Calibration%20of%20Extrinsic%20Parameters

cheers