Re: RTAB-Map and Unity integration

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-and-Unity-integration-tp4925p5013.html

Hi,

You are using the Asus, it has quite distortions after 3/4 meters. Maybe just align well the camera so that camera cloud and scan match well under 4 meters. When rendering the clouds form the camera, set a maximum depth to to 3/4 meters (to show in 3D map only points from the camera matching well the scans). Depth distortion could be decreased using the CLAMS approach integrated in RTAB-Map: https://github.com/introlab/rtabmap/wiki/Depth-Calibration

For the lidars, physically move the lidar that is offset from the others and watch RVIZ at the same time until they match together. Afterward, fine tune back TF to new real physical location.

For "the point clouds seem to don't update", which topic are you referring? The generated cloud /rtabmap/cloud_map should be updated on loop closure.

cheers,
Mathieu