Force 3DoF with Zed camera

introlab / rtabmap

RTAB-Map library and standalone application

https://introlab.github.io/rtabmap

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Force 3DoF with Zed camera #355

Closed jsseng closed 5 years ago

jsseng commented 5 years ago

I am trying to run the Force3DoF option while using Zed odometry. My robot just rolls on the ground. I am ending up with graphs where the positions continue to drift in the Z direction (upward in space). I assumed the poses would be restricted in Z direction. Is there an option I am missing? This is a latest git build.

matlabbe commented 5 years ago

Reg/Force3DoF doesn't have any effect on Zed odometry, only RTAB-Map's odometry approaches. This is something we never tried. I updated the code in this commit to support it, you can try the latest version.