Re: Does obstacles_detection nodelet assume that the sensor is level?

Posted by ibd on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Does-obstacles-detection-nodelet-assume-that-the-sensor-is-level-tp3485p3493.html

Here's a video showing the behavior of obstacles_detection's output.

https://youtu.be/uJYIrd9XR1M?t=27

You can see that the point cloud does not align with the map when the Tango tablet is pointed upwards. When pointed downwards, lots of points are filtered for some reason (I can fix the height cutoff by starting the mapping with the tango on the turtlebot, near ground level, but I cannot fix the filtering of the obstacles_cloud when pointing downwards that way).

Towards the end of the video, I do a quick comparison with the raw point cloud (relay topic), to show that the original data fits in the coordinate frames well.

The fixed frame of RVIZ was set to "map".