Re: Hesai QT128 with Zed2i and external fused Odometry

Posted by aninath93 on Oct 29, 2023; 1:09pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9730.html

Hi Mathieu,

Thank you for taking time in looking into my files, I did not even realize that LIDAR was tilted, thank you so much.
I will make the necessary adjustments as you suggested to see the results, but one quick thing I have 180 FOV with 3D lidar due to height of robot and docking part, can these parameters as you suggested be still true, I have doubt on "ProximityAngle", should that be in my case 0 and ProximityPathMaxNeighbors be a higher value for better loop closure like 2 or 3  ?

'RGBD/ProximityPathMaxNeighbors': '1',
'RGBD/ProximityPathFilteringRadius': '0',
'RGBD/ProximityAngle': '0'