Re: Load old database to do localization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Load-old-database-to-do-localization-tp1474p1489.html

The point cloud looks very noisy. Is it from the ZED camera? I think there is a parameter to set "Quality" depth map instead of "Performance" (this reduces a little the noise).

Another way to reduce the noise created in /rtabmap/proj_map is to use these parameters (see pcl::RadiusOutlierRemoval() for more info):

<param name="cloud_noise_filtering_radius" value="0.05"/>
<param name="cloud_noise_filtering_min_neighbors" value="2"/>

cheers