Re: Livox Avia, + Depth cameras and organized point clouds.

Posted by FPSychoric on Jan 12, 2023; 6:47pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9287.html

Ok, I fixed the camera issue, some bad firmware that left the calibration with wrong values, load default eeprom values fixed it

I went to take sample of data, but discovered that I was having high CPU load and topics started to don't arrive at time and I got errors than before didn't have. So my database is not good.

Other thing I discovered  is I cannot find the way to make Rtabmap work with bags, gave issues of TF, so I couldn't get data from the bag to give you a database. In the next days I will go out and record a data base, but I will load less the CPU, in my house it was working nicely but when I went outdoor, Rtabmap while record bags simultaneously demanded too much to the CPU, it was at 80% but it  looks performance fall without need get the 100% load in CPU.

Still I get RGB misaligment, I need calibrate outdoors too.

Later I put a short video with the mapping session and the Rtabmap errors in case you are interested, I guess they will disappear with lower CPU load

Thanks.