Re: Remote mapping Kinect2

Posted by suk1 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Remote-mapping-Kinect2-tp2980p2986.html

Hi Eric,

Thank you for your response :) Yes with the Jetson more challenges appear, haha. To compile libfreenect we used Jetsonhacks' scripts as he tested it all and created a nice post http://www.jetsonhacks.com/2016/07/11/ms-kinect-v2-nvidia-jetson-tx1/ .
As for when we run the kinect2_bridge, it picks up the cuda setting:

[ INFO] [1492591527.875158821]: [Kinect2Bridge::initialize] parameter:
        base_name: kinect2
           sensor: default
        fps_limit: -1
       calib_path: /home/ubuntu/catkin_ws/src/iai_kinect2/kinect2_bridge/data/
          use_png: false
     jpeg_quality: 90
        png_level: 1
     depth_method: cuda
     depth_device: -1
       reg_method: default
       reg_device: -1
        max_depth: 12
        min_depth: 0.1
       queue_size: 5
 bilateral_filter: true
edge_aware_filter: true
       publish_tf: true
     base_name_tf: kinect2
   worker_threads: 4

But I wouldn't know if the Jetson actually uses it. NVIDIA has a cuda-gdb debug program, it requires to compile to application with special debug flags, which sounds like a pain in the ass to me. Any other way to check if it actually uses cuda acceleration?
And yes, we also tested the sd quality level. This messes up the visual odom pretty good, as it will not rise above ~80 with objects within a 2 meter radius. Going further away will drop the odom to ~30. It can 'keep up' but it creates a very bad point cloud.

Thanks!

Sincerely,
Kareem