Re: RGBD Outdoor Mapping - Offline Database Processing - Localization

Posted by DavideR on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Outdoor-Mapping-Offline-Database-Processing-Localization-tp5258p5417.html

Hi Mathieu,

I'm working on RTABmap trying to create a map ( testing it in an indoor enviroment ).

Differently as written in the first post, at the moment rtabmap_ros runs directly on the Jetson TX1 ( so that both the ZED nodes and rtabmap share the same CPU avoiding image stream transmission over the network )

At first I tried recording ROSbags. Now all the process runs in real time.

QUESTION

1. I encountered this problem first looking at the database recorded from a ROSbag. Then I found the same issue in a database recorded directly during a real time session. Even looking at rtabmapviz I encounter the same situation :

In the "Odometry" screen, the depth image is shown randomly, and most of the times there is just the rgb image without any depth registered. Nevertheless, the cloud is continuosly updated in a correct way. This results in database keyframes with no depth image associated.

It seems also that the depth image appears only when the camera is close to walls or particular objects. Anyway, by looking at the stream delivered by the zed node , it seems that the depth topic is continuosly published and is correct.

I'm sorry for not posting other details regarding the launch file nor the parameters, I'm not able to retrieve them now. ( Will post soon if required ).

I was just wondering if it is a known problem.

Thank you for your support!