Re: Mapping with multiple stereocameras, localization with multiple monochrome monocular cameras

Posted by Artem Lobantsev on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-with-multiple-stereocameras-localization-with-multiple-monochrome-monocular-cameras-tp6647p6953.html

Hi Mathieu!

Btw, I didn't use ICP and lidar at all. Also, I eventually meet this problem again for the same case, except now for monocular localization. If I prepare map with stereocamera, and then use one mono back camera (directed 180 degrees difference with the base_link) for localization, rtabmap throws the same `Too large rotation` error again.

But, I found a way to solve it: if I set

<param name="frame_id"                  type="string"   value="back_camera"/>

, rtabmap works well, but I suppose, that this leads to wrong results of map-> odom correction from rtabmap.