Re: implementing rtabmap_drone_example in real drone

Posted by Samim-17 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/implementing-rtabmap-drone-example-in-real-drone-tp10688p10744.html

Hello Mathieu,
Thanks for suggesting infra1+depth. drone is now performing much better than our previous (color+depth).
Can I get some reasons why infra1 is used in real world instead of color which was used in simulation

But still there is like 5-6 cm swing (roll) in drone while taking off on offboard.
I have used 15fps and 640*480 resolution for camera and rpi4b.
For increasing processing speed as you suggested the following parameter are used

 --Vis/MaxFeatures 500 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2 --OdomF2M/MaxSize 1000 --Odom/ImageDecimation 2 --Odom/Strategy 1
--Optimizer/GravitySigma 0.1 --Vis/FeatureType 10 --Kp/DetectorStrategy 10 --Grid/MapFrameProjection true --NormalsSegmentation false --Grid/MaxGroundHeight 1 --Grid/MaxObstacleHeight 1.6 --RGBD/StartAtOrigin true

Currently IR emitter is not disabled. My question is what other parameters can be tuned to improve performance in drone ?
I want to drone as stable as possible while taking off to required altiude without much drifts.
Or Maybe if I can send you the .db file so you can check whats going wrong when the drone takeoffs.

Also while giving nav goal the drone looses altitude, what may be issue?