Re: scanning parameters

Posted by matlabbe on May 04, 2021; 5:00am
URL: http://official-rtab-map-forum.206.s1.nabble.com/scanning-parameters-tp7829p7898.html

The database links are not working.

With L515, visual odometry is quite poor because the sync issues between RGB and tof camera, and that the RGB camera has low field of view and has a lot of motion blur when moving. The best scanning I had alone yet with L515 is by using icp_odometry instead. See example here: http://official-rtab-map-forum.206.s1.nabble.com/Kinect-For-Azure-L515-ICP-lighting-invariant-mapping-td7187.html

A ros example based on the standalone example would be like this:

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

rosrun nodelet nodelet standalone rtabmap_ros/point_cloud_xyz \
    _approx_sync:=false  \
    /depth/image:=/camera/depth/image_rect_raw \
    /depth/camera_info:=/camera/depth/camera_info \
    _decimation:=4

roslaunch rtabmap_ros rtabmap.launch\
    rtabmap_args:="\
      --delete_db_on_start \
      --Icp/VoxelSize 0.05 \
      --Icp/PointToPlaneRadius 0 \
      --Icp/PointToPlaneK 20 \
      --Icp/CorrespondenceRatio 0.2 \
      --Icp/PMOutlierRatio 0.65 \
      --Icp/Epsilon 0.005 \
      --Icp/PointToPlaneMinComplexity 0 \
      --Odom/ScanKeyFrameThr 0.7 \
      --OdomF2M/ScanMaxSize 15000 \
      --Optimizer/GravitySigma 0.3 \
      --RGBD/ProximityPathMaxNeighbors 1 \
      --Reg/Strategy 1" \
    icp_odometry:=true \
    scan_cloud_topic:=/cloud \
    subscribe_scan_cloud:=true \
    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