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rtabmap: angled camera

asked 2019-10-24 08:55:15 -0600

june2473 gravatar image

updated 2019-10-24 08:56:39 -0600

I have mobile robot with 1.5 meters mast. I have located Intel Realsense d435 camera near to the top of the mast and oriented to the floor.

I am trying to get rtabmap working correctly. And I dont understand why floor become declinated. image description

https://yadi.sk/i/gA5xxj3PJ8y-Uw

Which rtabmap parameters should I configure to setup rtabmap working with camera oriented towards the floor?

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answered 2019-11-03 14:04:27 -0600

matlabbe gravatar image

Hi, this is not a rtabmap issue, you should make sure that TF from the frame_id (default base_link) used in rtabmap to your camera frame represents the reality. The camera orientation in TF may be wrong.

You can debug this without rtabmap, just show up TF and the camera point cloud in rviz, set the fixed frame in rviz global options to your robot base frame and the floor should be aligned with rviz grid. If not adjust TF between your base frame and camera frame.

cheers,
Mathieu

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Hello, Mathieu! Thanks for your help!

I tried to debug it as you described and I've got this numbers for static transform between base and camera to represent reality:

<node pkg="tf" type="static_transform_publisher" name="base_link" args="0 0 1.27 0 0.73 0.06 base_link camera_link 100" />

I look at camera depth cloud in rviz and check that floor point cloud is flat and wall point cloud is vertical.

To do that I intentionally aimed camera to angle between wall and floor in my room.

But rtabmap mapData is still totally wrong.

https://yadi.sk/i/rfDyz80uM_ssjw

What am i doing wrong?

sincerely,

Erdem

june2473 gravatar imagejune2473 ( 2019-11-07 02:26:37 -0600 )edit

MapCloud plugin should be visualized in map fixed frame in global options of RVIZ.

matlabbe gravatar imagematlabbe ( 2019-11-07 14:26:59 -0600 )edit

I set fixed frame to map in global options of rviz, nothing changed

june2473 gravatar imagejune2473 ( 2019-11-07 22:52:44 -0600 )edit

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Asked: 2019-10-24 08:55:15 -0600

Seen: 23 times

Last updated: Nov 03