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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Please help me.. there are too many obstacles in the graph view. #1322

Open kuacboss opened 3 months ago

kuacboss commented 3 months ago

Screenshot from 2024-08-07 19-58-20 I am a beginner. I mapped the school hallway and it looks like this even though there are no obstacles. Does this black color represent matched feature points? If so, is there a way to prevent me from recognizing the ceiling or floor features as obstacles (black)?

matlabbe commented 3 months ago

you can look at Grid/ parameters:

rtabmap --params | grep Grid/
[...]
Param: Grid/MaxObstacleHeight = "0.0"                      [Maximum obstacles height (0=disabled).]

So to filter ceiling, you could add --Grid/MaxObstacleHeight 1.5 to rtabmap arguments. By default the floor should not be detected as obstacle. How are you mapping? in 2D, 3D? on a robot?

kuacboss commented 3 months ago

I am using realsense 455 for my robot. The biggest problem is that, as in other maps, when you visit the same place on a 2D map, the previous map information is erased and a black point cloud appears, ruining the map. sm sm1

matlabbe commented 3 months ago

Can you share the database?

If stereo data gets too noisy, you may just use a simple thresholding of the floor by turning off normals segmentation (Grid/NormalsSegmentation=false) and set Grid/MaxGroundHeight to 0.1 m for example.