Re: Data in rtabmap/cloud_map and rtabmap/scan_map empty

Posted by arrinay on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Data-in-rtabmap-cloud-map-and-rtabmap-scan-map-empty-tp4400p4404.html

Hi Mathieu,

I have the latest version installed through apt-get on Ubuntu, using ROS Kinetic. I think this is version 0.11.13?
I don't think the scale is the cause of the problem. Even when flying very close to the building, the cloud_map is still empty. Also, when setting Grid/RangeMax to 0, the problem persists.

It might maybe be useful to share the parameters that I'm using:

    <param name="rgb/image_transport"   type="string" value="compressed"/>
    <param name="depth/image_transport" type="string" value="raw"/>

    <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
    <!--param name="RGBD/NeighborLinkRefining" type="string" value="true"/-->  <!-- Do odometry correction with consecutive laser scans -->
    <param name="RGBD/ProximityBySpace"     type="string" value="true"/>  <!-- Local loop closure detection (using estimated position) with locations in WM -->
    <param name="RGBD/ProximityByTime"      type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
    <param name="Reg/Strategy"              type="string" value="1"/>     <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
    <param name="Vis/InlierDistance"        type="string" value="0.1"/>   <!-- 3D visual words correspondence distance -->
    <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
    <param name="Reg/Force3DoF"             type="string" value="true"/>
    <param name="Grid/FromDepth"            type="string" value="false"/>
    <param name="Grid/DepthMax"             type="double" value="0"/>

    <param name="subscribe_depth" type="bool" value="true"/>
    <param name="subscribe_scan"  type="bool" value="false"/>