Maximum mapping distance rtabmap
Hi,
I am using a Kinect. Is there a way to set the max mapping distance to like 3.5 Meters to prevent noise from being in the image?
ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A answers.ros.org |
Hi,
I am using a Kinect. Is there a way to set the max mapping distance to like 3.5 Meters to prevent noise from being in the image?
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
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.
Please start posting anonymously - your entry will be published after you log in or create a new account.
Asked: 2017-01-13 06:41:32 -0500
Seen: 1,572 times
Last updated: Jan 16 '17
large kitti data map(or LoopClosure) make rtabmap_ros and the whole ubuntu crash!
Can't run rtabmap from roslaunch
joint_state_publisher dies on remote machine
rtabmap point cloud unit (m, mm, inch?)
data_recorder node missing from rtabmap_ros package [closed]
Comprehensive tutorials for understanding rtabmap and its parameters.