Re: Multi camera mapping and 6dof laser scan

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Multi-camera-mapping-and-6dof-laser-scan-tp1342p1358.html

Hi,

You can convert the laser scan in a point cloud in same frame as the laser scan message. However, you can still do 6dof even if you are using the laser scan input. The stereo_mapping.launch file just assumes that if you are using a laser scanner, you want a map in 3DoF, but you can just comment these lines to disable 3DoF constraints:

      <!-- when 2D scan is set -->
      <param if="$(arg subscribe_scan)" name="Optimizer/Slam2D"        type="string" value="true">
      <param if="$(arg subscribe_scan)" name="Icp/CorrespondenceRatio" type="string" value="0.25"/>
      <param if="$(arg subscribe_scan)" name="Reg/Strategy"            type="string" value="1"/> 
      <param if="$(arg subscribe_scan)" name="Reg/Force3DoF"           type="string" value="true"/>

      <!-- when 3D scan is set -->
      <param if="$(arg subscribe_scan_cloud)" name="Reg/Strategy"      type="string" value="1"/>

cheers