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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Does-obstacles-detection-nodelet-assume-that-the-sensor-is-level-tp3485p3521.html

Hi,

I did some tests with your configuration and I was able to reproduce the problems.

1) For the rotation issue, this is a bug in the code. I updated the code so that the segmented clouds are correctly transformed back to frame in the input topic. See this commit.

2) For obstacle clouds cut at some height, it is the effect of "Grid/MaxGroundHeight!=0" and "Grid/MapFrameProjection=false". Either set "Grid/MaxGroundHeight" to 0, or set "Grid/MapFrameProjection" to true.

<param name="Grid/MaxGroundHeight" type="double" value="0.05"/> 
<param name="Grid/MapFrameProjection" type="bool" value="true"/>

Details: When "Grid/MapFrameProjection" is false, "Grid/MaxGroundHeight" is relative to frame_id (e.g., base_footprint), so all points under 5 cm over where the base frame is are filtered. If "Grid/MapFrameProjection" is true, "Grid/MaxGroundHeight" is relative to map, so all points under 5 cm over the map ground (xy plane) are filtered. If "Grid/MaxGroundHeight" is 0, the results would be the same for "Grid/MapFrameProjection" set to true or false.

cheers,
Mathieu