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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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Accuracy of point clouds #339

Open Garand0o0 opened 4 years ago

Garand0o0 commented 4 years ago

Hello, I am experimenting with RGBD sensor(D435I). I can get rtabmap.db by following two instructions.

roslaunch rtabmap_ros rtabmap.launch
roslaunch realsense2_camera rs_camera.launch

I can get cloud.ply through the following steps. file->export 3d clouds I use meshlab to open and measure cloud.ply. Here are my measurements of three objects.

 actual value       measured value
 28cm                    27cm
 130cm                  110cm
 400cm                  300cm

Is the accuracy of 3d clouds inversely proportional to the length of an object? How should I adjust the parameters of rtabmap to improve accuracy? Thank you.

matlabbe commented 4 years ago

The scale of objects are related to calibration of the camera and the distance of the object. D435i is stereo, so farther we are from the object, the less accurate we are. If you are scanning objects always at the same distance, another reason that large objects may are less accurate is if the odometry drifted during the scan. Make sure to finalize the scan of a large object with a loop closure. You may share the database to see if the scan looks good at first.