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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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No color images, only grayscale images #1295

Closed alphabet-lgtm closed 3 weeks ago

alphabet-lgtm commented 3 weeks ago

As shown in the figure below, I am using a d435i camera but cannot obtain a color RGB image image

matlabbe commented 3 weeks ago

Is that on standalone? You can change the parameters there to use RGB-D mode instead: image

However, on D435i the odometry accuracy will be worst because the RGB camera has smaller FOV and has a rolling shutter (not totally sure if RGB camera is perfectly in sync with ir cameras too). On D455, it can be okay as they use a different RGB camera (with global shutter), but never experienced myself.

alphabet-lgtm commented 3 weeks ago

Is that on standalone? You can change the parameters there to use RGB-D mode instead: image

However, on D435i the odometry accuracy will be worst because the RGB camera has smaller FOV and has a rolling shutter (not totally sure if RGB camera is perfectly in sync with ir cameras too). On D455, it can be okay as they use a different RGB camera (with global shutter), but never experienced myself.

Thank you for your response. I successfully obtained the color image. Regarding odometry accuracy, I don't have any other cameras and have no way to verify it.

matlabbe commented 3 weeks ago

In RGB-D mode, you may see the camera jumping more and drifting more when you make a loop.

alphabet-lgtm commented 3 weeks ago

In RGB-D mode, you may see the camera jumping more and drifting more when you make a loop.

Yes, I have found out about it, but I just need color image even there will be some problems.