Thank you very much for all the excellent work with RTAB-Map.
I have been working for some time to achieve an optimal point cloud map using a robot equipped with a Kinect for Azure depth cam. I am doing localization against it, but also running some object segmentation so I need some really clean clouds. Thanks to some of the posts in this forum I'm able to generate a pretty nice map in the RTAB desktop application, but I am getting different subpar results when I run the same recording through the ROS node, referencing the same config file. I’m running the same rtabmap binary built within the ROS workspace.
The ROS-generated point cloud has several large offsets between the walls as the run loops around the same areas.
The two maps seem to be doing roughly the same number of loop closures, but in different places. Here is a side-by-side of the two graph views:
Do you have any ideas where the discrepancies might be between the two setups?
- Desktop database
- ROS-generated database
- ROS launch file
- Original MKV file
Playback via ROS driver:
ros2 run azure_kinect_ros2_driver azure_kinect_node --ros-args -p recording_file:=kitchen_loop19_tilt30_720p_30fps_wfov.mkv
And to get mkv playback working in the RTAB desktop app I had to apply this patch
Thank you for your help!