Re: Comparison between realsense D435 vs T265 vs T265+D435 dual setup

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-tp6456p7005.html

For the table disappearing from the local costmap as you are approaching, the voxel plugin (for PointCloud2) of the costmap should not clear obstacles not in field of view of the camera. The footprint set in costmap parameters may be too large, as with footprint_clearing_enabled parameter on, it could clear obstacles. You could also publish the voxel layer of the costmap with publish_voxel_map set to on (see http://wiki.ros.org/costmap_2d/hydro/obstacles#VoxelCostmapPlugin), it will be easier to see in rviz when the obstacle is cleared.

For pure VIO, you may look for some packages on internet. For D435i, if you already tried https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_d435i_vio.launch with rtabmap built with vins_fusion and don't have good results (make sure to cover the IR emitter to avoid adding false features to track), you may look for other standalone VIO approaches. They would give odometry topic that can be used in rtabmap afterwards.

cheers,
Mathieu