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-tp5517p5519.html

Just a latest shot. This is a square room:



I am a bit concerned about the black edging on the depth cloud, which looks like an uncalibrated cloud However the kinect has been calibrated, at least within the kinect2_bridge package. Should it be calibrated within rtabmapviz? Unfortunately the 'source' menu is grayed out when I run rtabmapviz, so not able to test at present. Any thoughts?

There also seems to be a lot of black 'noise' that only appears in the depth cloud when rtabmap is running.

EDIT: ntpdate output:

server 192.168.1.99, stratum 2, offset 0.015392, delay 0.05731
17 Feb 11:13:05 ntpdate[7327]: adjust time server 192.168.1.99 offset 0.015392 sec

Is a hundredth-or-so of a second acceptable here?

Also max depth is set to 4