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-tp5517p5523.html

Ok so I wondered if maybe it was a performance problem on the TX2 and so built the robot package on an old gaming laptop. Because of the combination of optimus graphics being fussy about driver, CUDA's proclivities towards GCC versions and a host of other annoyances, I have to run kinect2_bridge with opengl and CPU registration. Not ideal, but definitely faster than the TX2. However, this only improves the response time of mapping and not the lining up of images, leading me to think its not a performance problem. That brings me back to the black borders on everything!

I am wondering - if you move the kinect2 and mount it in a different way, do you need to rerun calibration / extrinsics? Looking at those black borders on everything makes me think this is the case. The original calibration was done on a tripod with a flat angle to the kinect2, but now on the robot it is looking up at 15 degrees. Should I rerun calibration?

Additionally is there some kind of calibration that must be done for lidar / odometry, or does the URDF somehow take care of all that?

Thanks for reading this far and apologies for making you come back to a novel!