Re: rtabmap + orbbec reconstrution failure

Posted by daerduocarey on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-orbbec-reconstrution-failure-tp3481p3512.html

Thank you so much for the detailed reply, Mattieu. The information you provided is really helpful!

Could you simply teach me how can I get the precise TF between camera_link and base_link? I don't mount my camera at the standard place for Kinect. I mount it higher on top of my turtlebot. I can measure the rough TF for x, y and z translation. Is it necessary to make it more accurate?

I plot out the simulated laser scan from my orbbec camera and rotate my robot for 360 degree. I find that there is some slight drift but the accumulated scan can delineate the rough layout for my office. I want to know how accurate does the TF need to be?

Thank you!

Bests,
Kaichun