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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Odometry-freezes-in-example-rgbdmapping-but-not-in-rtabmap-main-app-tp10486p10497.html

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