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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Incomplete-depth-cloud-and-no-loop-closures-with-Realsense-R200-tp2934p2953.html

Hi,

How did you interpolate the depth image? Be aware that on edge we may not want to interpolate depth values. I updated the Hand-held mapping tutorial  for RealSense R200 camera with another approach to get dense depth image at the RGB size.

Setting Rtabmap/LoopThr as low (<0.1) makes rtabmap ignores the loop closure hypotheses and just tried to match with the image with highest likelihood. So a lot of wrong hypotheses will be tested. Hopefully with the geometric test, a least Vis/MinInliers (default 20) are required to accept the loop. You may try with lower Vis/MinInliers too, though transformations accepted below 20 inliers would be less accurate.

cheers,
Mathieu