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rtabmap Export 3D clouds(map) problems

asked 2019-10-13 02:52:24 -0600

lixz123007 gravatar image

updated 2019-10-13 04:08:19 -0600

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!

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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?

matlabbe gravatar image matlabbe  ( 2019-10-14 19:14:39 -0600 )edit

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answered 2019-11-18 23:15:11 -0600

lixz123007 gravatar image

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!

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

matlabbe gravatar image matlabbe  ( 2019-11-19 08:28:13 -0600 )edit

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Asked: 2019-10-13 02:52:24 -0600

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Last updated: Nov 18 '19