Re: Kinect For Azure / L515 - ICP (lighting invariant mapping)

Posted by matlabbe on May 04, 2021; 5:01am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Kinect-For-Azure-L515-ICP-lighting-invariant-mapping-tp7187p7899.html

With L515, here is a ROS example based on the standalone example above (ref):

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