Re: Unable to replicate RTABMAP standalone performance launching the nodes myself

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Unable-to-replicate-RTABMAP-standalone-performance-launching-the-nodes-myself-tp9699p9702.html

Hi,

It seems the big difference is that you are using the RGB camera.In rtabmap standalone, the left IR + generated depth is used by default. The IR camera has larger FOV and no depth registration errors, which means better pose estimation. Try using left IR image with depth aligned to Left IR camera (non-aligned depth should be aligned with left camera), and disable IR emitter.

we launch 2 rgbdx_sync nodes to output 1 rgbd image

not sure to understand that setup...

cheers,
Mathieu