Pointcloud map generation using Realsense D435i

Posted by nk on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Pointcloud-map-generation-using-Realsense-D435i-tp8543.html

I am trying SLAM with Realsense D435i according to the link below. https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i When generating a pointcloud map, I see that it is not very dense. How would I go about changing this? The part in the launch file that uses rtabmap is below.

    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
        <arg name="args" value="--delete_db_on_start"/>
        <arg name="rgb_topic" value="/camera/color/image_raw"/>
        <arg name="depth_topic" value="/camera/aligned_depth_to_color/image_raw"/>
        <arg name="camera_info_topic" value="/camera/color/camera_info"/>
        <arg name="depth_camera_info_topic" value="/camera/depth/camera_info"/>
        <arg name="rtabmapviz" value="false"/>
        <arg name="rviz" value="true"/>
    </include>

My second question is a little more general. For my purpose, I am trying to scan a wall with objects on it. The camera will be at angle between looking up and facing the wall, and will move upwards. What would be the best way to obtain a 2D map of this wall, as seen from the front? Thanks.