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Map coordinates on rtabmap/cloud_map to rtabmap/map ? #1339
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They are both in same origin. The coordinate (x,y) of each point in
then
(in general the rotation is Identity (unit quaternion), so I didn't add it here for simplification) |
@matlabbe |
You don't need to necessary use
|
Hi, I am a newbie in rtabmap,I read some point cloud from
rtabmap/cloud_map
, then reconstructed the plane using PCL's RANSAC (using only the raw data from cloud_map) and looked up some colors in it (e.g. the coordinates of the red objects), and now I would like to project these coordinates into a 2D map published byrtabmap/map
. How could I do that?I learned that the type of
rtabmap/map
isnav_msgs/OccupancyGrid
, is it the same coordinate system asrtabmap/cloud_map
?(for x,y coordinates)Can I use the 2D coordinates from
rtabmap/cloud_map
reconstruction directly as 2D coordinates onrtabmap/map
, or do I need to do some coordinate conversion?Thanks so much!
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