Open GoogleCodeExporter opened 9 years ago
This is more a feature than an issue :P I've updated this wiki page to explain
what are the causes, and what you can do to recover from lost odometry:
https://code.google.com/p/rtabmap/wiki/KinectMapping#Lost_Odometry_(RED_screens!
)
Original comment by matla...@gmail.com
on 20 Nov 2014 at 11:02
Hey,
Thanks for getting back to me. I will keep this in mind. Also, I was wondering if playing around with the inliers parameter would change the 4meter max range of Kinect?
Thanks
Original comment by vijethra...@gmail.com
on 21 Nov 2014 at 5:22
Hey,
Thanks for getting back to me. I will keep this in mind. Also, I was
wondering if playing around with the inliers parameter would change the
4meter max range of Kinect?
Original comment by vijethra...@gmail.com
on 21 Nov 2014 at 5:22
These are common odometry parameters that may influence RED screens:
{{{
$ rosrun rtabmap rgbd_odometry --params
[...]
Param: Odom/InlierDistance = "0.02" [Maximum distance for visual word
correspondences.]
Param: Odom/MaxDepth = "4.0" [Max depth of the words (0 means no
limit).]
Param: Odom/MinInliers = "20" [Minimum visual word correspondences to
compute geometry transform.]
[...]
}}}
In the launch file, you can set a parameter with:
{{{
<param name="Odom/InlierDistance" type="string" value="0.05"/>
}}}
Note that all RTAB-Map's related parameters are set using type "string".
There is also another approach to do odometry (using Optical flow) that can be
set with this parameter:
{{{
Param: Odom/Strategy = "0" [0=Bag-of-words 1=Optical Flow]
}}}
Original comment by matla...@gmail.com
on 21 Nov 2014 at 4:47
Thanks.
Original comment by vijethra...@gmail.com
on 22 Nov 2014 at 9:07
Original issue reported on code.google.com by
vijethra...@gmail.com
on 20 Nov 2014 at 9:37Attachments: