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Update slam_rtabmap.launch #166
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matlabbe
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ooeygui
previously approved these changes
Apr 18, 2022
* Added **IMU support** (map is now aligned with gravity by default). * Updated **depth rectification interpolation method to NearestNeighbor** instead of Linear. This avoids a lot of noisy points in the 3D point cloud. This would also fix microsoft#103 at the same time. * Added **IR mode** when setting `color_enabled` to `false`. This mode can be useful when **mapping in the dark**. * Using **depth registered to RGB camera** instead of RGB registered to depth camera. This is useful for **proper texturing of the 3D mesh** when exporting the map. * Use 720P instead of 1536P so that default parameters of rtabmap can work better. Adjusted parameters between color and ir modes. * The RGB image has to be rectified, because of that, it adds black borders to RGB image. Those black borders would not affect visual odometry or loop closure detection, but it is affecting 3D point cloud reconstruction. I added this note: `When using color camera, to avoid black borders in point clouds in rtabmapviz, set ROI ratios in Preferences->3D rendering to "0.05 0.05 0.05 0.05" under Map and Odom columns.`. The black borders won't appear anymore.
ooeygui
approved these changes
Oct 18, 2022
For those using ROS2, see my post here: http://official-rtab-map-forum.206.s1.nabble.com/Differences-between-ROS-output-vs-desktop-tp9333p9334.html |
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Fixes #165
Description of the changes:
color_enabled
tofalse
. This mode can be useful when mapping in the dark.--Odom/ResetCountdown 2
parameter as it is quite specific to application (however the parameters I modified for color mode will make odometry losing track a lot less often).When using color camera, to avoid black borders in point clouds in rtabmapviz, set ROI ratios in Preferences->3D rendering to "0.05 0.05 0.05 0.05" under Map and Odom columns.
. The black borders won't appear anymore.Required before submitting a Pull Request:
I tested changes on:
Update ROS2 (February 2023)
For those using ROS2, see my post here: http://official-rtab-map-forum.206.s1.nabble.com/Differences-between-ROS-output-vs-desktop-tp9333p9334.html