scanning parameters

Posted by Orya on Apr 19, 2021; 3:15pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/scanning-parameters-tp7829.html

Hi,

I try to scan area and I don't get accuracy and robust result.

I'm using realsense L515 and the commands:
roslaunch realsense2_camera rs_camera.launch align_depth:=true unite_imu_method:="linear_interpolation" enable_gyro:=true enable_accel:=true

rosrun imu_filter_madgwick imu_filter_node \
    _use_mag:=false \
    _publish_tf:=false \
    _world_frame:="enu" \
    /imu/data_raw:=/camera/imu \
    /imu/data:=/rtabmap/imu

roslaunch rtabmap_ros rtabmap.launch\
    rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" \
    depth_topic:=/camera/aligned_depth_to_color/image_raw \
    rgb_topic:=/camera/color/image_raw \
    camera_info_topic:=/camera/color/camera_info \
    approx_sync:=false \
    wait_imu_to_init:=true \
    imu_topic:=/rtabmap/imu

1. When I am scanning, I almost never have a green screen that show match id (sometimes yellow or red). Is it say, there is not have a good match between pictures?

2.  I am moving in x-y-theta and the scanning direction is to Z (like the robot scan the ceiling). There is a parameter like 'Reg/Force3DoF' to set this motion?

3. I tried change some parameters:  RGBD/LoopClosureReextractFeatures true, Kp/DetectorStrategy 6, Kp/MaxFeatures 0, Kp/MaxFeatures 1000, RGBD/LinearUpdate 0.01. But there is no a big difference, I still have a bad scanning. How can I change the numbers of features per image? Where can I find a list of parameters that should be changed for a better scan? Can I set the maximum depth?

4. In addition, there is an option to save database, change parameters and see demo of the scanning that use the same database pictures and the new parameters? To see if the updated parameter get a better scanning and we can see green screen and a better match between pictures.

Thanks a lot,
Orya