rtabmap Export 3D clouds(map) problems

Hi! When i use kinect2 camera to run rtabmap , the .ply file i export looks good.But when i use Stereo camera( the data from KITTI ), the .ply files looks wrong.I think it may be 2D?(but it is good by RGBD camera.) Here is what it should be: image description and

But it looks: image description

I find 3d points clouds is not the points clouds showed in 3D Map! How to export the points clouds in 3D Map? Any help would be appreciated!

Asked by lixz123007 on 2019-10-13 02:52:24 UTC

Comments

Is the camera calibrated? images rectified? Do you have a database to share? Are you showing data of the same database in all screenshots above?

Asked by matlabbe on 2019-10-14 19:14:39 UTC

Answers

I found that in Export 3D clouds meus .If i set "Set the number of K nearest.." and "Set the search radius..." and "Voxel size.." to 0, the 3d clouds pcd files will be OK! But i don't know why!

Asked by lixz123007 on 2019-11-19 00:15:11 UTC

Comments

If you have a database to share, we could check more in depth the problem with default export parameters.

Asked by matlabbe on 2019-11-19 09:28:13 UTC