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-tp5046p5554.html
Hi,
Thx for the db, there is indeed a TF problem between the device frame and the lidar frame. There is no requirement that lidar should overlap tango's cloud, but it would make it easier to debug the transform. In your transform, xyz = "0 0 0", not sure the lidar is exactly on device frame. For example, if the phone is 10 cm over the lidar, it could be something like "0 0 0.1". Another problem could be the time synchronization between the stamps from the lidar and Tango poses. If you move very slowly, does the lidar look less off-sync from Tango?
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5554.html
Hi,
Thx for the db, there is indeed a TF problem between the device frame and the lidar frame. There is no requirement that lidar should overlap tango's cloud, but it would make it easier to debug the transform. In your transform, xyz = "0 0 0", not sure the lidar is exactly on device frame. For example, if the phone is 10 cm over the lidar, it could be something like "0 0 0.1". Another problem could be the time synchronization between the stamps from the lidar and Tango poses. If you move very slowly, does the lidar look less off-sync from Tango?
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