Re: rtabmap + orbbec reconstrution failure

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-orbbec-reconstrution-failure-tp3481p3527.html

Hi Kaichun,

I generally measures roughly the position of the kinect and then with RVIZ, I project the point cloud and make sure roll/pitch orientation and z position is good (ground cloud is superposing perfectly the plane xy). Adjust TF or move the camera iteratively. For yaw rotation and y position, I can put a tape on the ground in middle of the robot and make sure that in RVIZ it is also straight in the middle. For x position, you may put the robot in front of a wall at known distance and see if the cloud corresponds in RVIZ (using the grid).

An automatic approach: http://wiki.ros.org/openni/Contests/ROS%203D/Automatic%20Calibration%20of%20Extrinsic%20Parameters

cheers,
Mathieu