matlabbe
matlabbe
You would need to set `'Grid/3D': 'true'` here: https://github.com/introlab/rtabmap_ros/blob/f5a3e487056e399b834971ef6a64126843666f7f/rtabmap_demos/launch/turtlebot3/turtlebot3_rgbd_scan.launch.py#L41 Then if you install `ros-$ROS_DISTRO-octomap-rviz-plugins`, you could show the octomap in rviz with ColorOccupancyGrid plugin. Note that the actual octomap topic...
If you have [ROS2](https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html) installed. ``` sudo apt install \ ros-$ROS_DISTRO-rtabmap-demos \ ros-$ROS_DISTRO-turtlebot3-gazebo \ ros-$ROS_DISTRO-depthimage-to-laserscan ros2 launch rtabmap_demos turtlebot3_sim_rgbd_fake_scan_demo.launch.py ```
The `/camera/camera/color/camera_info` topic is missing in the recorded bag. For tf error, `"camera_imu_optical_frame" to frame "camera_link"` missing, it seems you launched `rs_launch.py` with `publish_tf:=false`, try with `publish_tf:=true`. You can double...
Could you record a rosbag of the scans that can reproduce the issue? Is it a shift along the corridor direction or perpendicular to it?
Does the camera give you a side-by-side video stream in opencv? You could use this camera driver: https://github.com/introlab/rtabmap/blob/master/corelib/include/rtabmap/core/camera/CameraStereoVideo.h You will need to calibrate the camera. If you have already the...
Yeah, we don't really have other c++ examples :)
That is the TF published by wheel odometry? Is it `odom`? If so, try for `icp_odometry`: ```py "frame_id": point_cloud_frame_id, "odom_frame_id": "icp_odom", "guess_frame_id": "odom", ... #remaps: ("odom", "icp_odom") ``` If you...
If the variance is low, it means the new location doesn't relate strongly with any locations, so virtual place likelihood would be high. From Section III-C of this [paper](https://arxiv.org/abs/2407.15304): >...
It is hard to say without seeing the full sequence, but based on those images, I would expect a likelihood not very high (in particular for binary features). You may...
After you created a database, you can extract all timing statistics and export them to MATLAB or Octave to show a graph like that. To do so, you can see...