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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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global mapping of rtabmap node by external odometry instead of visual odometry #201

Open Jinshingji opened 6 years ago

Jinshingji commented 6 years ago

hi, I have a bag file which contains stereo images and odometry. I want to get global point cloud from this bag file with rtabmap node instead of using visual odometry. I made republisher to publish them by receiving stereo_images and odometry from it when bag file is played. And I have stereo_image_proc and rtabmap node to run for generating point cloud from this bag file with launch file. I have got a global point cloud, but the point cloud is messed. it is not recognizable. I do n't know why point cloud is messed. odometry is correct. I wish any one to solve this issue. this is my launch file.

thank you.

matlabbe commented 6 years ago

Do you have a screenshot? Maybe there is a missing optical rotation of the camera frame.

Jinshingji commented 6 years ago

shoot hi, this is point cloud messed. how do I set optical rotation of the camera frame?

Jinshingji commented 6 years ago

I have been trying to do it by static_trnaform_publisher. but the appearance of point cloud is not changed even when running static_transform_publisher. what should I do to rotate camera frame? rtabmap can receive tf_msgs when running static_transform_publisher?

Jinshingji commented 6 years ago

rtabmap node can rotate camera frame?

matlabbe commented 6 years ago

See #202