Re: RTAB-Map and Unity integration

Posted by viniciusbs on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-and-Unity-integration-tp4925p5113.html

Hi Mathieu,

Thanks for the analysis and reply. The filtering that I was looking for is to try to correct this problem that I described happening around 33s of the bag. I noticed that until then, the points on the map (especially noticeable on the trash bin) were being added to the correct location but afterwards there is an offset. Since the robot was further away from the object by this time, I'm wondering if this is a camera depth distortion problem (despite calibration). If that is the case, I would like to somehow discard data for points that are at a longer distance. Like I said, I played with some parameters but couldn't observe this effect.

Regarding calibration and tf adjustments, I've put quite some effort into this, but everything seems to be very sensitive. The tf transforms have to be fixed, but whatever I set seems to only be valid for a short range of distances/angles. Is this a camera problem? Any other advices to cope with this?

Also, from your experience, does the Kinect camera significantly improve results in relation to the Asus Xtion? Or is it more or less the same?

Cheers,
  Vinicius