Re: misalignment from tango multi session

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5546.html

Hi,

I would try first to use tango ros streamer example "as is" while adding the lidar input. To add the lidar point clouds, we have to pre-sync the tango image topics together. To do that, rtabmap.launch has for convenience an argument called rgbd_sync:

$ rosrun rtabmap_ros pointcloud_to_depthimage \
   cloud:=/tango/point_cloud \
   camera_info:=/tango/camera/color_1/camera_info \
   _fixed_frame_id:=start_of_service \
   _decimation:=8 \
   _fill_holes_size:=5

$ roslaunch rtabmap_ros rtabmap.launch \
   rtabmap_args:="--delete_db_on_start --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2" \
   visual_odometry:=false \
   odom_frame_id:="start_of_service" \
   frame_id:="device" \
   rgb_topic:=/tango/camera/color_1/image_raw \
   depth_topic:=/image \
   camera_info_topic:=/tango/camera/color_1/camera_info \
   compressed:=true \
   depth_image_transport:=raw \
   approx_sync:=true \
   rgbd_sync:=true \
   approx_rgbd_sync:=false \
   subscribe_rgbd:=true \
   subscribe_scan_cloud:=true \
   scan_cloud_topic:=/Lidar/points

# We should adjust the pose of the lidar accordingly to device frame: "x y z yaw pitch rool"
$ rosrun tf static_transform_publisher 0 0 0 0 0 0 device lidar 100

The database will then contain the point cloud of Tango and also the point cloud of the lidar.

cheers,
Mathieu