Re: Visual odometry and Azure Kinect or stereo visual odometry and stereo camera
Posted by
chris.ferra on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Visual-odometry-and-Azure-Kinect-or-stereo-visual-odometry-and-stereo-camera-tp9657p9663.html
Hi Mathieu,
thank you for your response.
These are the commands I am running:
ros2 run imu_filter_madgwick imu_filter_madgwick_node --ros-args -r /imu/data_raw:=/imu -p use_mag:=false -p publish_tf:=false
ros2 run image_proc image_proc --ros-args -r camera_info:=/rgb/camera_info -r image:=/rgb/image_raw -r image_rect:=/rgb/image_rect
ros2 run azure_kinect_ros_driver node --ros-args -p recording_file:=room.mkv -p color_enabled:=true -p fps:=30 -p depth_mode:=WFOV_2X2BINNED
ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_args:="--delete_db_on_start" rgb_topic:=/rgb/image_rect depth_topic:=/depth_to_rgb/image_raw camera_info_topic:=/rgb/camera_info frame_id:=camera_base approx_sync:=true approx_sync_max_interval:=0.1 wait_imu_to_init:=true imu_topic:=/imu/data qos:=1 queue_size:=30
(Btw I am using OpenCV version 4.3.0)
As you can see from
this video, the odometry is easily lost as I turn back from the bathroom. Is there anything wrong with the recording?
Here you can find the .mkv video I used:
https://drive.google.com/file/d/1OBqDYqW_TcUtoURmqmM3xIN2kgkNcoce/view?usp=drive_linkThank you again,
Best regards,
Christian