Problems interfacing RTAB-Map and V-Rep

Posted by PierHarper on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problems-interfacing-RTAB-Map-and-V-Rep-tp1444.html

Hello to everybody.
I'm using RTAB-Map with the aim to create a 3D dense point-cloud map of a simulated environment.I'm using V-Rep to simulate as the environment as the mobile robot in it.The mobile robot is equipped with a kinect (the one available in V-Rep) which streams color images (in rgb8 format) and depth images (in rgb8 format, so i'm forced to convert the images in 16UC1 encoding using cv_bridge) .Unfortunately, when i try to visualize (in rviz) the voxel_cloud generated by the "points_xyzrgb" nodelet, it appears to be deformated ,more precisely, the scene object reconstructed appears to be magnified, bigger than theirs counterparts in the native scene (imagine an object reconstructed in an higher scale). Moreover MapCloud seems to be unable to build the 3D dense map. All the code has been tested also on a real robot in my laboratory and works fine without the mentioned problems. Someone knows why, with simulated scenes i got these troubles?