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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).

cheers, Mathieu

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