Re: rtabmap_ros outdoor 3D mapping

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-outdoor-3D-mapping-tp6104p6152.html

Hi Mathieu



Thank you for your replay.

matlabbe wrote

Depending on the frame of the ZED and the IMU, you can set a static_transform_publisher with the correct orientation between those frames. TF is used for both (that remark applies to two previous sentences).

I know the static transformation, but do you have or know an example how to get that transformation :)

matlabbe wrote

If the depth estimation is poor on textureless surfaces, this could create your doublewall effect. As I said in the previous post, it is possible to try another disparity estimation approach on rtabmap side with cv::StereoBM. To do that that, you should use stereo mode of rtabmap with left/right images of zed, not the rgb/depth images. See stereo demo with zed here.

I have taken a look at the stereo_mapping demo as you suggested. And, I have created a launch file with the main script as follows:




I have run the launch file in two scenarios. The first one is an outdoor and the second one is indoor.

Outdoor

http://www.fit.vutbr.cz/~plascencia/rtabmap_sq1.db 

Indoor

http://www.fit.vutbr.cz/~plascencia/rtabmap_ind.db 








I am looking forward to your replay