Re: Losing odometry when doing fixed point scanning

Posted by scanboy on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Losing-odometry-when-doing-fixed-point-scanning-tp4336p4431.html

Hi,

Sorry I don't have that database anymore it has been overwritten, essentially I think it was just an init of the database as nothing had been properly processed.

Now I can process the multi camera but all the cameras are displaced and I'm setting the local transform for each camera the same way (x,y,z,roll,pitch,yaw) as I set my odometry before. I have not properly debugged this yet to see why yet.

As for the depth factor it is still small mystery for me and I feel that I have read 'everything' about it. It is simply a factor (img /= depthFactor) to get the depth range right and in general appears to be around 5 for most examples. How do I know or calculate this factor if I'm using any of the depth formats from the openNI(2) API?