Kinect For Azure / L515 - ICP (lighting invariant mapping)
This post was updated on .
EDIT: Config files for K4A and L515 and be downloaded on v0.20.8 release.
With the L515 and Kinect For Azure, I've seen some great scans but I didn't see any scans in pitch dark using LiDAR capability advantage of those cameras. Here is a config file for Kinect For Azure with ICP mode using this config file: config_k4a_icp_v3.ini. RTAB-Map should be built with libpointmatcher, GTSAM and Kinect For Azure driver. I don't have a L515 to test with, but from what I saw, I think similar parameters could be used.Updated with L515 example below! For quick reference, here are the RTAB-Map parameters that I have modified:
The Preferences->Source parameters. Note that I use IR mode for Kinect 4 Azure to use the raw LiDAR data (without distortion that could be added when registering to RGB camera and to have the whole LiDAR Field-Of-View) for best accuracy:
I have tried the standalone rtabmap to build a map with L515+T265. I could get similar result that you have shown.
Is it possible to implement the same setup in ros environment? I tried to build a 3d map with the same cameras but I can't reproduce the same result as the standalone rtbamap. For the same setup, any guideline for the launch file and param setup?
Hope you could help to reproduce similar result in ROS.