Maximum mapping distance rtabmap

answered 2017-01-13 09:58:08 -0600

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updated 2017-01-16 14:14:36 -0600

Hi,

In rtabmapviz, this parameter is under Preferences->3D Rendering. In RVIZ, the rtabmap_ros/MapCloud plugin has also this parameter. For the output /rtabmap/cloud_map, the ros parameter (default 4 meters) is cloud_max_depth (for rtabmap < 0.11.11) or Grid/DepthMax (for rtabmap >= 0.11.11).

EDIT

To limit the distance of the extracted visual features used for visual odometry or loop closure detection, the parameter is Vis/MaxDepth. You can set it in rtabmap_args:="--Vis/MaxDepth 3.5" or in launch file:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
   ...
   <param name="Vis/MaxDepth" type="string" value="3.5"/> <!-- loop closure detection -->
</node>
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
   ...
   <param name="Vis/MaxDepth" type="string" value="3.5"/> <!-- odometry -->
</node>

Note that parameter Vis/EstimationType set to 1 (PnP transform estimation) is more robust to far noisy features.

cheers, Mathieu

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I am using rtabmap 0.11.8 but whenever I use my launch file with the adjusted parameters it will continue mapping to far away. Also tried changing the Vis/Maxdepth without any result.

gijsje170 ( 2017-01-16 02:50:52 -0600 )edit

Can you tell which topic is the problem?

matlabbe ( 2017-01-16 09:50:27 -0600 )edit

Hi, I think the depthimage, the problem is because it is taking points from a large distance much noise comes into the image + the ceiling. Is there a way to only take points which are closer then like 2 meters or something?

gijsje170 ( 2017-01-16 11:40:17 -0600 )edit

Updated answer.

matlabbe ( 2017-01-16 14:15:02 -0600 )edit

Hi matlabbe I think I am a big to vague, I want to only map points which are closer then 3.5 meters. So still take features from the points far away but only put the points in the map when they are closer then 3.5 meter from the Kinect.

gijsje170 ( 2017-01-17 02:31:16 -0600 )edit

Can you add an image of which points you are referring. For the point cloud in rtabmapviz, in Preferences->3D Rendering there is a Max Depth parameters that can be set for example so the 3D point cloud map includes only points under this range from the kinect.

matlabbe ( 2017-01-23 19:03:39 -0600 )edit

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