Re: A bunch of general questions

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/A-bunch-of-general-questions-tp856p868.html

1) PoseScanMatching is for convenience, as this kind of odometry correction could be done before the rtabmap node. In localization mode, the latest node is always deleted at the end of the iteration, so it cannot be used for PoseScanMatching. To be able to use it in Localization mode, the previous node should be saved, maybe in Rtabmap class.

4) the robot_navigation package seems nice, but I never used it though (as well as robot_pose_ekf).

7) Using ICP 3D, we cannot force 2D transformation. In the next version 0.11, we should be able to do that.

8) Once the depth calibration matrix is computed, it can be applied very fast. I think I've seen a code somewhere to do that (I think it is this dead link referenced from IntrinsicCalibration tutorial). If you can compute this matrix, you could multiply it to the depth image before rtabmap node.

Thank you for the encouragement!

Mathieu