Re: Reference frame of visual odometry

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reference-frame-of-visual-odometry-tp2681p2688.html

Hi,

If wheel odometry and visual odometry are initialized at the same time, they should start on the same pose (Identity transform).

It is also possible to reset visual odometry at a specified pose, see reset_odom_to_pose service in Visual Odometry section.

Not sure what your /world reference means, but if you are going to compare two odometries at the same time (showing both TF at the same time in RVIZ), the TF tree would look like this:

      /------>/base_link_wheel (transform published by wheel odometry)
     /
/odom 
     \
      \------->/base_link (transform published by visual odometry) -----> /camera_link ----> /camera_rgb_optical_link

 
The trick is to initialize visual odometry intial pose (/odom -> /base_link) to same value than the wheel odometry (/odom -> /base_link_wheel) using the service above.

cheers,
Mathieu