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felixendres / rgbdslam_v2

RGB-D SLAM for ROS
GNU General Public License v3.0
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kinect 2 #57

Open yalan2017 opened 7 years ago

yalan2017 commented 7 years ago

hi i have tried with kinect 2 (ubuntu 14.04 -indigo )according to this tutorial :: http://answers.ros.org/question/234659/rgbdslam-v2-on-kinect-v2-no-devices-connected-waiting-for-devices-to-be-connected/ its very slow ! i need know whether there are some problems ? or should be like this? and i have these messages after running ::

[ INFO] [1495442938.598059664]: Nodes 248<->48: 2 good iterations (from 100), inlier pct 85, inlier cnt: 256, error (MHD): 0.87 [ INFO] [1495442938.598074955]: RANSAC found a valid transformation with 256 inliers matches with average ratio 0.095311 [ INFO] [1495442938.598085358]: Returning Valid Edge [ INFO] [1495442938.598113968]: Optimizer Size: 245 [ INFO] [1495442938.598223933]: You specified FLANN with ORB, this is SLOW! Using BRUTEFORCE instead. [ INFO] [1495442938.598324452]: My bruteforce Search runtime: 0.0132416 s [ INFO] [1495442938.598586335]: You specified FLANN with ORB, this is SLOW! Using BRUTEFORCE instead. [ INFO] [1495442938.598607488]: My bruteforce Search runtime: 0.00655231 s [ INFO] [1495442938.598716612]: My bruteforce Search runtime: 0.0137097 s [ INFO] [1495442938.598833951]: 1 good iterations (from 100), inlier pct 82, inlier cnt: 247, error (MHD): 0.83 [ INFO] [1495442938.599453604]: Nodes 248<->0: g2o transformation estimated to Node 0:

[ WARN] [1495438960.643429202]: Could not find a connection between 'openni_rgb_optical_frame' and 'kinect2_rgb_optical_frame' because they are not part of the same tree.Tf has two or more unconnected trees. [ WARN] [1495438960.643460247]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds)

voyage19941119 commented 7 years ago

my warn is similar to you ,I 'm using kinect 1, mine is not just slow ,it stucked after processing 2 frames every time

[ WARN] [1495445549.453348471]: "openni_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist. [ WARN] [1495445549.453373741]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds)

this also happens when using a ros bagfile instead