Re: Painting a pointcloud.

Posted by Mikor on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Painting-a-pointcloud-tp8130p8481.html

Hello Mathieu,

here is what I mean it only computes the odometry, and it got me confused because I run exactly the same launch file with this command from the terminal:

roslaunch rtabmap_ros 4cam.launch args:="-d  \
       RGBD/CreateOccupancyGrid false \
       Rtabmap/DetectionRate 0 \
       Odom/ScanKeyFrameThr 0.5 \
       OdomF2M/ScanMaxSize 30000  \
       OdomF2M/ScanSubtractRadius 0.3   \
       Icp/PM true \
       Icp/VoxelSize 0.3   \
       Icp/MaxTranslation 2   \
       Icp/MaxCorrespondenceDistance 1 \
       Icp/PMOutlierRatio 0.7 \
       Icp/Iterations 10 \
       Icp/PointToPlane true \
       Icp/PMMatcherKnn 3 \
       Icp/PMMatcherEpsilon 1 \
       Icp/Epsilon 0.0001 \
       Icp/PointToPlaneK 10 \
       Icp/PointToPlaneRadius 0 \
       Icp/CorrespondenceRatio 0.01 \
       Icp/PointToPlaneGroundNormalsUp 0.3 \
       Rtabmap/ImagesAlreadyRectified false"

Do you believe that there is something more I could check and get back to you so we can sort it out?

With respect,
Anthony