Re: Mapping performance and hallway problems with Kinect 2

Posted by Wezza on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-performance-and-hallway-problems-with-Kinect-2-tp3956p3961.html

First of all, thank you for the detailed answer and the abstract!

1.) Okay, that's what I was afraid of. Maybe I can add other sensors at a later date.

2.) I changed the rate in the "throttle" launchfile but i can't see any difference. Thats strange. I tried rate 1, 5, 10, 20, 30, 100. No difference in bandwidth (~495 kiB/s, qHD) and mapping quality/speed. The compression works, but rate has no influence. Or do I get the wrong idea about rate? I thought it was the parameter for the refresh/frame rate. My launchfile looks like this:

<launch>
  <arg name="rate"  default="20"/>
  <arg name="decimation"  default="1"/> <!-- Reduce the image size, e.g., 2 means "width/2 x height/2". -->
  <arg name="resolution" default="qhd" />
  <arg name="approx_sync" default="false" /> <!-- kinect2_bridge has synchronized images -->

  <!-- Use kinect2 nodelet manager -->
  <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle kinect2" output="screen">
      <param name="rate" type="double" value="$(arg rate)"/>
      <param name="decimation" type="int" value="$(arg decimation)"/>
      <param name="approx_sync" type="bool" value="$(arg approx_sync)"/>

      <remap from="rgb/image_in"       to="/kinect2/$(arg resolution)/image_color_rect"/>
      <remap from="depth/image_in"     to="/kinect2/$(arg resolution)/image_depth_rect"/>
      <remap from="rgb/camera_info_in" to="/kinect2/$(arg resolution)/camera_info"/>

      <remap from="rgb/image_out"       to="/kinect2/data_throttled_image"/>
      <remap from="depth/image_out"     to="/kinect2/data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="/kinect2/data_throttled_camera_info"/>
  </node>    
</launch>

If I run mapping and odometry on the robot, how can I monitor the process? As far as I know, I need at least one image (odometry) to monitor the mapping. I was not able to subscribe to a matching topic which shows me the odometry video.

By synchronizing the computer, you mean a solution such as ntpdate?

Best regards,
Wezza