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how does octomap realize the height of different place?

asked 2012-08-19 10:28:18 -0600

Chong gravatar image

updated 2014-01-28 17:13:22 -0600

ngrennan gravatar image

Hi Everyone, I'm using rgbdslam to generate a 3D map and send it to octomap for further processing. But now I found a problem I cannot solve: I'm generating the map of an office but according to octomap, it seems to determine to make my room very declined, As seen from the image I attach, if the same color represents the same height. I have no clue how it happens. Can anyone have any ideas? Thanks a lot !

Chong

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Please add the proper tags to your question next time, so it can be found and answered.

AHornung gravatar imageAHornung ( 2012-08-19 22:57:16 -0600 )edit

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answered 2012-08-19 23:15:47 -0600

AHornung gravatar image

octomap_server which you used for mapping does not reason about height or inclination in any way of the incoming data. It will just use a tf lookup from your sensor's tf frame to the map frame in order to align (register) the scan in the world frame.

This information has to be provided by the user, in your case it's coming from RGBD-Slam. Already there, your data must be tilted. I would assume that it will be better if your camera is aligned horizontally for most images, particularly the first. Adding an IMU and integrating it will completely solve this problem.

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thanks!!! would you please tell me how to add an IMU?

Chong gravatar imageChong ( 2012-09-09 20:29:00 -0600 )edit

Not in a straightforward way. You would need to extend the code of RGBD-Slam to use roll and pitch from your IMU data.

AHornung gravatar imageAHornung ( 2012-09-13 06:12:08 -0600 )edit

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Asked: 2012-08-19 10:28:18 -0600

Seen: 653 times

Last updated: Aug 19 '12