Re: Rtabmap mapping with two cameras

Posted by adr_arroyo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-with-two-cameras-tp2662p2684.html

As I said, I leave here some pictures of the simulation:
This first is with the param "map_negative_poses_ignored" set to false, which makes the robot's sensor think that it should map to the back of the robot:

This one is with the param set to true:

As you can see, it looks like there is an object or something blocking the view, but there is actually nothing there.
These two images correspond to one of the cameras color representation. It looks like the cameras sensor is somehow mixed with the floor, or at least, that is what i think, since the line of intersection is in the same position as the line in the previous pictures with the grid map:



I also tried taking out the sensor as a different node, but I get this error: SensorData.cpp:594::uncompressDataConst() Requested laser scan data, but the sensor data (1) doesn't have laser scan. And there is no grid map on rviz to see.

Cheers, Adrian