RTAB-Map with kinect v2

Posted by vasemax on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-with-kinect-v2-tp6090.html

Thank you for this awesome software! RTAB-Map changed the way I work. I'm a building engineer and academic researcher and I used phab2pro on many projects for indoor building scanning. The procedure is a bit slow but the accuracy is better than expected. The only drawback I found is some random crashes where the program closes unexpectedly. I'm monitoring the ram and it's not from that. I can't reproduce the crashes so I can't give you more feedback.

Anyway, my question is about kinect v2. I wanted to upgrade the sensor to be more productive on indoor scanning, so I got a kinect v2 sensor. I already tried with my laptop but the processor (i3) was inadequate. I only got 7fps. I will get a very powerful laptop soon, so that problem should be solved. However, results from the 7fps scan weren't very promising by having a lot of offsets on pointclouds. Do I need any preparation (or calibration) to get good results? RTAB-Map with phab2pro uses only the depth sensor or uses the accelerometer and orientation sensors as well for odometry? Can I expect better results with kinect v2 on a powerful laptop? Kinect v2 has a broad field of view so it should be able to get better visual odometry. Finally, I can only make it work via the freenect2. The kinect for Windows SDK v2 driver is deactivated but I already installed it.