Re: (Bad 3D map) robot_localization sensor fusion imu and odom

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bad-3D-map-robot-localization-sensor-fusion-imu-and-odom-tp5456p5557.html

Hi Mathieu


Thank you very much for your replay.


I can see in both cameras left/right Tx (baseline) is wrong.


I am not using the latest driver from zed-sdk version 2.2 and that driver comes with a zed urdf zed_test.xacro in that file I have that transformation.

<joint name="zed_depth_camera_joint" type="fixed">
<parent link="zed_left_camera"/>
<child link="zed_depth_camera"/>
<origin xyz="0 0 0" rpy="-1.5707963267948966 0 -1.5707963267948966"/>
</joint>

So I do not know where to set the transformation with the frames camera_link zed_left_camera_optical_frame

static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link zed_left_camera_optical_frame 100

I have:

/stereo_camera/right/camera_info

header: 
  seq: 213
  stamp: 
    secs: 1551095985
    nsecs: 672814496
  frame_id: "zed_left_camera"
height: 376
width: 672
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [334.4773864746094, 0.0, 350.92645263671875, 0.0, 334.4773864746094, 190.33334350585938, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [334.4773864746094, 0.0, 350.92645263671875, -0.040107518434524536, 0.0, 334.4773864746094, 190.33334350585938, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

rostopic echo /stereo_camera/left/camera_info

header: 
  seq: 1554
  stamp: 
    secs: 1551096071
    nsecs: 641753856
  frame_id: "zed_left_camera"
height: 376
width: 672
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [334.4773864746094, 0.0, 350.92645263671875, 0.0, 334.4773864746094, 190.33334350585938, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [334.4773864746094, 0.0, 350.92645263671875, 0.0, 0.0, 334.4773864746094, 190.33334350585938, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

Any suggestion??