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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Continously updating the reconstructed cloud with the sensor field of view #1257

Closed aasishkc4 closed 2 months ago

aasishkc4 commented 2 months ago

Hi, I have a robot equipped with a 3D lidar and a depth camera and I have used both of the sensors for 3d reconstruction. Now I wanted the reconstructed cloud to keep updating the scene which is currently in the field of view of the sensors. How can I achieve that? Currently, the cloud gets updated when the head moves which is as the camera and lidar are attached to the head.

matlabbe commented 2 months ago

If only the head is moving, but not the base frame, you could set RGBD/LinearUpdate to 0 to force updating the map all the time. Currently, rtabmap may think the robot is immobile, so it doesn't update the map.

aasishkc4 commented 2 months ago

Sure. I will try that. One more doubt, many times I get this tf error any thoughts on that?

[WARN] [1712557006.951025452] [rtabmap]: We received odometry message, but we cannot get the corresponding TF world->camera_depth_optical_frame at data stamp 251.932000s (odom msg stamp is 251.956000s). Make sure TF of odometry is also published to get more accurate pose estimation. This warning is only printed once.

aasishkc4 commented 2 months ago

If only the head is moving, but not the base frame, you could set RGBD/LinearUpdate to 0 to force updating the map all the time. Currently, rtabmap may think the robot is immobile, so it doesn't update the map.

I tried this. I kept one object in the scene and started the rtabmap it generated the cloud for that object then when i remove the object from the scene it still shows that object in the reconstructed cloud but the cloud updation is happening on the points on the ground. But i want that cloud in front of the sensor to reset.

matlabbe commented 2 months ago

You would need to look at the /rtabmap/octomap... outputs. To make OctoMap clear dynamic obstacles, you need to set Grid/RayTracing to true (with Grid/3D=true if not already).

For the tf warnings, are you in simulation? The delay is 20 ms, if it doesn't appear often, you may ignore it.