Re: How to remove wrong MapCloud

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-remove-wrong-MapCloud-tp6674p6708.html

Hi,

The disparity is computed with default parameters of cv::StereoBM. They cannot be changed for rviz MapCloud plugin. However, for rtabmapviz or for cloud_map topic, we can tune them with StereoBM/ parameters:

$ rtabmap --params | grep StereoBM
Param: Stereo/DenseStrategy = "0"                          [0=cv::StereoBM, 1=cv::StereoSGBM]
Param: StereoBM/BlockSize = "15"                           [See cv::StereoBM]
Param: StereoBM/Disp12MaxDiff = "-1"                       [See cv::StereoBM]
Param: StereoBM/MinDisparity = "0"                         [See cv::StereoBM]
Param: StereoBM/NumDisparities = "128"                     [See cv::StereoBM]
Param: StereoBM/PreFilterCap = "31"                        [See cv::StereoBM]
Param: StereoBM/PreFilterSize = "9"                        [See cv::StereoBM]
Param: StereoBM/SpeckleRange = "4"                         [See cv::StereoBM]
Param: StereoBM/SpeckleWindowSize = "100"                  [See cv::StereoBM]
Param: StereoBM/TextureThreshold = "10"                    [See cv::StereoBM]
Param: StereoBM/UniquenessRatio = "15"                     [See cv::StereoBM]

For convenience, stereo_image_proc can be used to change live the StereoBM parameters with rtq_reconfigure. See http://wiki.ros.org/stereo_image_proc/Tutorials/ChoosingGoodStereoParameters. When you are happy with the results, you can fix the same parameters for rtabmap as above.