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-tp5517p5628.html

As far as I can tell, in the static case the rgb and depth images not lining up only occurred when the kinect was right up close to something, such that the depth camera was unable to see it. Then the RGB image was projected onto whatever was behind it. Removing objects that could be close, like the table leg, seems to have helped there. I have performed calibration twice on the unit according to their instructions.

However the "not lining up" when moving is still present, and I think you may be right about the processing power and synchonisation issue. The actual kinect2_bridge topic only publishes at 2Hz and, when running just the viewer and moving the camera, a lot of image distortion and lag is observed. Even using the overclocking script on the TX2 does not seem to improve matters. Perhaps the board just is not capable of running kinect2_bridge fast enough.

Sadly the TX2 is not compatible with OpenCL, so that is not an option either.

What kind of USB problem could cause this? If you have any suggestions of things to look into that would be hugely appreciated. I do not particularly want to abandon the project as I wanted to use the robot as an interview portfolio piece, however I am starting to think that may be the only option.