Re: RGB-D Mapping with Laser scanner

Posted by You Li on Oct 22, 2016; 11:15pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-Mapping-with-Laser-scanner-tp25p2178.html

   
Thanks. I have a question. Why is there an angle transformation in the rgbd_mapping_kinect2.launch file?


   <arg name="pi/2" value="1.5707963267948966"/>
   <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
   <node pkg="tf" type="static_transform_publisher" name="kinect2_base_link"
        args="$(arg optical_rotate) kinect2_base_link kinect2_link 100" /> 
 
Is it essential whenever we use kinect2?