Re: Mapping and Navigation with Intel R200 depth camera

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-and-Navigation-with-Intel-R200-depth-camera-tp2583p2605.html

Hi,

What is the rate of /camera/cloudXYZ topic? and compare it with the input depth:
­

$ rostopic hz /camera/cloudXYZ
$ rostopic hz /camera/depth_registered/sw_registered/image_rect_raw

As your voxel size is 2 cm, you may increase decimation to 2 or 4 to compute the point cloud a lot faster.

cheers