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We don't have examples for object scanning with rtabmap. It would require some tuning based on the sensor used. It is possible to scan with only point clouds. I added an example with K4A here: https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_k4a_cloud_only.launch

If the object is on a rotating round table, you could change the max_depth parameter here to cut the background. The decimation and voxel size may be decreased to get more geometry details on small objects.

cheers,
Mathieu

We don't have examples for object scanning with rtabmap. It would require some tuning based on the sensor used. It is possible to scan with only point clouds. I added an example with K4A here: https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_k4a_cloud_only.launch

If the object is on a rotating round table, you could change the max_depth parameter here to cut the background. The decimation and voxel size may be decreased to get more geometry details on small objects.

EDIT: Recommended to build rtabmap with libpointmatcher so that this example works as expected.

cheers,
Mathieu