Scale Estmation and Configuration

[syhassan]

Hello, I'm currently running monocular OrbSLAM2 with ROS Noetic on Ubuntu 20.04, and using Intel RealSense D455. OrbSLAM2 is configured to read parameters from the camera info topic. I mapped out the area around me and used Octomap for a grid map as shown in the following image:

I seem to be having a problem with scaling, as you can see in the image below, the distance marked by the black line (almost in the centre of the image) is around 4 meters in real life, but unfortunately it comes to about 1 meter as shown in the bottom left corner of the image.

Is there a way to change the scaling parameters for the node? I tried fiddling with the scaleFactor param but that seemed to me like mostly trial and error (it crashed when I set it to 4.8 instead of the default 1.2), so could you tell me how that functions?

[ojpc]

Hi @syhassan, did you find a way to rescale the map based on your real life measure?

[syhassan]

@ojpc unfortunately I did not :(