Re: Troubleshooting mapping with kinect v2, rplidar and jetson tx2
Posted by Ross_L on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Troubleshooting-mapping-with-kinect-v2-rplidar-and-jetson-tx2-tp5517p5518.html
Correction: Network usage is 25 MiB/s, not 40!
EDIT: Tried changing the bringup params for kinect2_bridge to sd from qhd and added decimation = 3, still does not seem to make any difference
EDIT2: Ah ok, it looks like I was subscribing to the non throttled data in RVIZ, and instead was pulling the regular sd depth stream. That said, now I clicked on the "data throttled" entry, I am getting nothing at all! Bit more digging I think.
Should the standard sd stream really be 25 MiB second though?
EDIT3: Ok I have managed to get an SD throttled stream working, its about 8-10 MiB/s with transport compressedDepth. Rtabmap looks a bit happier and is now giving messages about looking for inliers. I am still getting the smearing though, so back to original question, what would be the best parameters to check first? I note from the remote mapping tutorial the bandwidth figure should be around 500 KiB/s, compared with my 8-10 MiB/s.
Thanks!
URL: http://official-rtab-map-forum.206.s1.nabble.com/Troubleshooting-mapping-with-kinect-v2-rplidar-and-jetson-tx2-tp5517p5518.html
Correction: Network usage is 25 MiB/s, not 40!
EDIT: Tried changing the bringup params for kinect2_bridge to sd from qhd and added decimation = 3, still does not seem to make any difference
EDIT2: Ah ok, it looks like I was subscribing to the non throttled data in RVIZ, and instead was pulling the regular sd depth stream. That said, now I clicked on the "data throttled" entry, I am getting nothing at all! Bit more digging I think.
Should the standard sd stream really be 25 MiB second though?
EDIT3: Ok I have managed to get an SD throttled stream working, its about 8-10 MiB/s with transport compressedDepth. Rtabmap looks a bit happier and is now giving messages about looking for inliers. I am still getting the smearing though, so back to original question, what would be the best parameters to check first? I note from the remote mapping tutorial the bandwidth figure should be around 500 KiB/s, compared with my 8-10 MiB/s.
Thanks!
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