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tum-vision / lsd_slam

LSD-SLAM
GNU General Public License v3.0
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Changing FPS and Camera Resolution #287

Open caap95 opened 6 years ago

caap95 commented 6 years ago

Hello,

I'm trying to use lsd slam but until now the results are poor. My reconstruction results comes with much noise and i think in some situation the depth is badly calculated cause i get points where i shouldn't have, for instance in the line between the object and the camera.

When i run the program, the first reconstruction is good, but when i start moving the camera everything is worsen, i get much noise.

So, to solve this i'm trying different things, and one of them is to change fps and camera resolution to see if that makes a difference. But i can't manage to find my fps. How can i check my fps and change them?

The resolution my camera uses is 640x480. How can i change it? It's on the calibration file using crop?

bespoke-code commented 6 years ago

I suppose you're using ROS Indigo. How do you access the camera? The uvc_camera node, for example, has parameters which you can set by running rosparam. Here's an example to set the frame rate to 30 FPS: rosparam set uvc_camera/fps 30

Some other camera nodes are configured via the rqt_reconfigure module. See if it is installed on your system, then run rosrun rqt_reconfigure rqt_reconfigure.