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-tp2934p2964.html

Hi,

To test more images for loop closure:

<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>

To extract more features (lowering the threshold):

<param name="SURF/HessianThreshold"        type="string" value="100"/>

For debugging, I would not use decimation right now, to extract more features (highest resolution generates more features):

<param name="Mem/ImagePreDecimation"       type="string" value="1"/> 
<param name="Mem/ImagePostDecimation"      type="string" value="1"/> 

However, the major problem is that most visual features are out of range of the sensor (the accuracy of R200 is only good under ~3.5 meters).


Frame data for one frame:



It seems that TF is not correctly set between robot frame and camera frame (map is tilted):


cheers,
Mathieu