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-tp2934p2937.html

Hey again,

I have bagged the data from a short test where the robot drives in a circle, returning to the same place: link

I still get no loop closure. I suspect that it must be the aforementioned checkerboard problem, which i would assume will cause 3/4 of matches to be discarded because the depth is missing? The pattern is also visible when activating the depth image overlay in the loop closure panel in rtabmapviz, but not when looking at the depth image in rviz or rqt_image_view...

Any ideas?

Daniel