RGBDSLAMv2 need advice for better reconstruction using handheld device
I just installed RGBDSLAMv2 on Ubuntu12.04 and started using it for creating 3D model of object I am using. However, I get blurred and inconsistent result. The snapshot is is the following link (somehow, I can't upload image to the question):
https://www.dropbox.com/s/z6tsii1gi4m...
I have set the following parameters in the launch file:
<!-- Input data settings-->
<param name="config/topic_image_mono" value="/camera/rgb/image_raw"/>
<param name="config/topic_image_depth" value="/camera/depth_registered/image_raw"/>
<param name="config/topic_points" value="/camera/depth_registered/points"/> <!--if empty, point cloud will be reconstructed from image and depth -->
<param name="config/feature_detector_type" value="SIFT"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. -->
<param name="config/feature_extractor_type" value="SIFT"/><!-- also available: SIFT, SURF, SURF128 (extended SURF), ORB. -->
<param name="config/nn_distance_ratio" value="0.8"/> <!-- Feature correspondence is valid if distance to nearest neighbour is smaller than this parameter times the distance to the 2nd neighbour -->
<param name="config/max_keypoints" value="1000"/><!-- Extract no more than this many keypoints (not honored by SIFTGPU)-->
<param name="config/ransac_iterations" value="200"/>
<param name="config/cloud_creation_skip_step" value="4"/><!-- subsample the images' pixels (in both, width and height), when creating the cloud -->
<param name="config/data_skip_step" value="1"/><!-- subsample the image frames (in time) -->
<param name="config/voxelfilter_size" value="0.01"/><!-- downsample the input point cloud -->
<param name="config/use_icp" value="true"/><!-- downsample the input point cloud -->
<param name="config/maximum_depth" value="1.5"/><!-- save the point clouds in the this range only -->
I do not have any clue what is going wrong. If there are specific parameters I need to adjust or any setting I must do in order to get the correct reconstruction, please let me know..
Thanks.