No loop closure detection

[pammirato]

When i run rtabmap_ros with my kinectv2, nothing ever pops up in the loop closure section of the window. It used to but doesn't anymore, I am not sure what has changed. Can you give me an idea of where to look to find the cause?


I know images are being published by the kinect node and received by some nodes of rtabmap_ros, because the main window and odometry section both show images as they are captured. But it seems no loop closures are being detected, and when i try to view the data base there is a file but it has no content.


Here's what it looks like:

[pammirato]

SOLVED IT!!


My queueSize was too small in CoreWrapper,cpp, it was 1. I'm guessing that wasn't big enough to allow all the images to sync with the message filter duh! i originally set it to 1 so that i would only get the most recent images.

Dang I spent a few days on this!

[matlabbe]

Hello,

Well, I was writing some observations... It seems that you are using HD images, on my computer the frame rate is really poor on HD (like ~2 Hz). With such a large latency, the synchronisation between the depth and RGB images is not very good. As you have found, increasing the queue solved the problem. However, be aware that a bad synchronisation between RGB and depth images is also bad for odometry. I have a better frame rate with "sd" and "qhd" qualities:

 $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
 $ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch resolution:="qhd"

Note also that I've just fixed the launch file for "sd" quality. There was a problem with "/kinect2/sd/image_mono_rect" not published by kinect2_bridge (where it is published in "qhd" and "hd").

cheers