orb_slam_2_ros
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Scale Estmation and Configuration
Hello, I'm currently running monocular OrbSLAM2 with ROS Noetic on Ubuntu 20.04, and using Intel RealSense D455. OrbSLAM2 is configured to read parameters from the camera info topic. I mapped out the area around me and used Octomap for a grid map as shown in the following image:
I seem to be having a problem with scaling, as you can see in the image below, the distance marked by the black line (almost in the centre of the image) is around 4 meters in real life, but unfortunately it comes to about 1 meter as shown in the bottom left corner of the image.
Is there a way to change the scaling parameters for the node? I tried fiddling with the scaleFactor param but that seemed to me like mostly trial and error (it crashed when I set it to 4.8 instead of the default 1.2), so could you tell me how that functions?
Hi @syhassan, did you find a way to rescale the map based on your real life measure?
@ojpc unfortunately I did not :(