Odometry freezes in example/rgbdmapping but not in rtabmap main app

[yliu333]

Hi folks, I am getting a pretty noticeable difference in the odometry freezes in example/rgbdmapping vs rtabmap main app. I wonder what difference do these two apps have. I built the repository using the default options and all dependencies are Linux system dependencies. It is on 22.04. The camera is a RealSense D435i

Here is a video I made. Any help is appreciated!

https://drive.google.com/file/d/1e0s9VK9xC-iBS4Eldb8gbzwiujd9z0KG/view?usp=drive_link

[matlabbe]

With rtabmap main app, with D435i, we set the camera driver to use Infrared camera instead of the RGB camera. The Infrared camera has larger FOV, less motion blur (global shutter) and perfect sync/registration with depth image. To use IR approach for the rgbdmapping example, add the following after this:

camera->setResolution(848, 480, 60);
camera->setIRFormat(true, true);
camera->setEmitterEnabled(false);

cheers,
Mathieu