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-tp6104p6349.html

Hi Mathew.

I am  using rtabmap.launch and the zed odom.

<include file="$(find rtabmap_ros)/launch/rtabmap.launch">

   

 <remap from="odom"            to="/zed/odom"/> 

I have done the following:

1.- I have set the  imu_topic argument to topic of my IMU.
      <arg name="imu_topic"                     value="/mavros/imu/data"/> 

2.- I have set  the gravity constraint parameter "--Optimizer/GravitySigma 0.3" into the graph
       

<arg name="rtabmap_args"        value="--delete_db_on_start --Optimizer/GravitySigma 0.3" />

3.-  I have set the  TF between imu and  zed camera.

 

 <joint name="zed_base_link_camera_center_joint" type="fixed">
        <parent link="zed_left_camera_optical_frame"/>
        <child link="base_link"/>
        <origin xyz="0 0 0" rpy="-3.00242 -1.34878 -1.58442 " />
    </joint>

4.- I have  filtered the depth images to remove depth values in textureless areas.
                 

 <arg name="depth_topic"             default="/zed/depth/depth_filtered" />

Mathieu wrote

For the reflections on the floor, assuming that we are always on the same floor, would be to filter points under xy plane. With Grid/NormalsSegmentation=false and Grid/MaxGroundHeight=0.05

In the  

rtabmap.launch

 the previous parameters can not be set, the can be set  just in the

rtabmap_ros

. How can this issue be solve in the

rtabmap.launch

I have a database if you want to take a look


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


The following pictures show  the result of the 3D mapping.