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I tried your files today. Performance is really bad. First and second contain a difficult scenario. Most features aren't visible for long and sometimes there are few salient features. At other times there are objects occuring multiple times, which leads to undesired matches and transformations. The third set is is similar but somewhat more benign.

I managed to get reasonable results by changing some settings (and fixing a bug or two) that were not in global_definitions.cpp yet. I will commit the changes to the freiburg_tools repository tommorrow. Additionally to the new parameters and bugfixes, I suggest you increase the number of ...min/max_features... and decrease the values for ...min_translation... and ...min_rotation... However, I haven't tried running on default parameters after the new changes, so it might as well work with default parameters.

One thing I noticed is that your bag files contain badly synced images and point clouds. Usually the timestamp of depth image and point cloud should be identical and the timestamp of the corresponding monochrome image shouldn't be more than 1/30 seconds away. This can lead to bad feature locations when projecting them to 3D. This might be a problem of bag file recording, but to make sure, I introduced a parameter that can be set to true to block such asynchronous frames. Also the visualization now overlays the monochrome image and the depth image in different colors, so you can check whether this is a problem.