Re: Incomplete depth cloud and no loop closures with Realsense R200

Posted by danmou on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Incomplete-depth-cloud-and-no-loop-closures-with-Realsense-R200-tp2934p2936.html

Thanks, I will disable the visual odometry and add decimation to the rgb image, that should help with the processing.

The white wall was just to illustrate the checkerboard pattern, the area I have tried to map has a fair amount of visual features. I can try to generate a bag so you can see. The second picture in my previous post was the registered depth image viewing the same white wall as the first picture, and as can be seen the depth image has pretty much complete coverage on the wall (depending on your screen, you might need to zoom in to avoid aliasing), whereas the point cloud in rtabmapviz has large holes. Any idea why this is occurring? As you say, depth values are required for loop closure so I think this could be what's causing my loop closure problem.

Thanks,
Daniel