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-tp2934p2947.html

Hey,
Yes, the empty pixels in the depth image are added in the registration process. I could not use the depth directly because it is in the reference frame of the left IR camera, which is around 5cm from the rgb camera. However, I finally managed to solve the problem by inserting a node that resizes the depth image to 640x480 before the registration. I now get a much denser map and I am finally getting some loop closures  

Now I think I just need to tune the parameters. I had to decrease Rtabmap/LoopThr to 0.03 to get some loop closures. What exactly does this parameter represent? It doesn't seem to correspond with the values shown in the likelihood plot. And do you have any pointers for tuning the other parameters related to loop closure?

Thanks,
Daniel