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Hello Mathieu,
I would like to use rpi4 as my companion computer for autonomous drone with d435 camera.
Referring to your guide I have set
--Vis/MaxFeatures 500 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2 --Kp/DetectorStrategy 1- --OdomF2M/MaxSize 1000 --Odom/ImageDecimation 2
Odom/Strategy 1 --Vis/FeatureType 10 --Grid/MapFrameProjection true --NormalsSegmentation false --Grid/MaxGroundHeight 0.1 --Grid/MaxObstacleHeight 1.6 --RGBD/StartAtOrigin true
Still with this parameters the rtabmap/odom is not always >10hz. Does rtabmap/odom depend on environment?
What other parameters I could use to improve processing?
Currently d435 camera has 15hz frame rate and resolution of 640*480. Is 15hz too low ? should I increase it to 30hz ?
I saw rtabmap gives octomap also. doesn't this require more processing? Can I disable it to improve processing ?
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