Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

RTABMAP estimate normals with external odometry

asked 2021-03-16 05:01:40 -0600

MRRobot
60 ●5 ●8 ●12

Is it possible to use external odometry to estimate normals with RTABMAP? Will the normals then be estimated based on the odom when the points where captured? I know icp_odometry have some parameters for normal estimation, but I have not found any examples using them.

My goal is to user Intel RealSense D435 and T265 cameras to scan a box from five sides and use the normals to decide tcp orientation for a robot so that its tool is perpendicular to the surface.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2021-03-16 18:24:46 -0600

matlabbe

6409 ●11 ●96 ●80

Normals are inverted if needed based on the current point of view.

edit flag offensive delete link

Comments

Do I understand it correct that RTABMAP will orient all normals according to current pov and not store the pov from when the point was captured? If I were to scan one side of a box and then scan the opposite side, all surface normals would have the same direction and be oriented according to the last side, and not in opposite directions?

MRRobot ( 2021-03-22 06:37:28 -0600 )edit

/rtabmap/cloud_map doesn't have normals published. When doing File->Export Clouds, normals are adjusted depending on each camera point of view. See adjustNormalsToViewPoints(). For each point, we search the camera looking at it, then flip the normal is needed.

matlabbe ( 2021-03-22 07:20:21 -0600 )edit

I see. Thank you for the clarification!

MRRobot ( 2021-03-22 07:26:27 -0600 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2021-03-16 05:01:40 -0600

Seen: 170 times

Last updated: Mar 16 '21

RTABMAP estimate normals with external odometry edit

1 Answer

Comments

Question Tools

Stats

Related questions

RTABMAP estimate normals with external odometry