Posted by
acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-outdoor-3D-mapping-tp6104p6538.html
Hi Mathieu
matlabbe wrote
Not sure I have the right database, but beware that when the drone/camera is on the ground, the depth values on the ground seem wrong:
Using Optimizer/GravitySigma=0.3 seems to add more errors than remove them. I think it is because the TF between mavros IMU and the camera is wrong, or not enough accurate. With =0 (gravity optimization disabled), the map look a lot better but not aligned to gravity.
Well, yea the drone starts on the floor and I do not fly it, I just take it on my hand. I am sorry to say it but I am remember that the camera was moved and the map was taken with the old (imu-camera) calibration and also I remember that probably
Optimizer/GravitySigma was disable.
I made a new calibration between imu and camera.
I will make a new test and posted here :)
matlabbe wrote
Please copy/paste the launch file between "raw" xml tags instead of an image, I won't re-write manually to test the bag.
Yea you are right in that point, sorry for that :). I just put parenthesis (param) because if not they are not posted, I do not know why
<arg name="camera_frame" default="zed_camera_center" />
<group ns="/zed/">
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3" />
<arg name="rgb_topic" value="/zed/rgb/image_rect_color" />
<arg name="depth_topic" value="/zed/depth/depth_filtered" />
<arg name="camera_info_topic" value="/zed/rgb/camera_info" />
<arg name="depth_camera_info_topic" value="/zed/depth/camera_info" />
<arg name="frame_id" value="$(arg camera_frame)" />
<arg name="odom_frame_id" value="odom" />
<arg name="approx_sync" value="false" />
<arg name="visual_odometry" value="false" />
<arg name="rtabmapviz" value="false" />
<arg name="rviz" value="false" />
<arg name="odom_topic" value="/zed/odom" />
<arg name="imu_topic" value="/mavros/imu/data"/>
<(param) name="Optimizer/GravitySigma " type="string" value="0.3"/>
<arg name="odom_tf_angular_variance" value="0.01"/>
<arg name="odom_tf_linear_variance" value="0.0004"/>
<(param) name="Grid/NormalsSegmentation" type="bool" value="false"/>
<(param) name =" Grid/MaxGroundHeight" type="double" value="0.05"/>
<(param) name="Optimizer/Strategy" type="string" value="1"/>
<(param) name="RGBD/OptimizeStrategy" type="string" value="1"/>
</include>
</group>