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Post-processing stuff can be used in rtabmapviz too (must be Paused to be enabled). If g2o option is disabled, that means rtabmap library is not built with g2o. Make sure you are seeing -- With g2o = YES (License: BSD) when building rtabmap library:

$ cd rtabmap/build
$ cmake ..
(...)
-- Info :
--   Version : 0.11.8
--   CMAKE_INSTALL_PREFIX = /home/mathieu/catkin_ws/devel
--   CMAKE_BUILD_TYPE =     Release
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   BUILD_SHARED_LIBS =    ON
--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -Wno-deprecated -fopenmp -std=c++11
--   With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = NO (libfreenect2 not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--   With g2o                  = YES (License: BSD)
--   With GTSAM                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (cvsba not found)
--   With ZED                  = NO (ZED sdk not found)
--   With OCTOMAP              = YES (License: BSD)
--   With Qt4                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done

The same info is also shown in the About dialog of rtabmapviz. You would also use g2o binaries from ros-kinetic-libg2o if you don't want to build from source g2o.

The camera is shaking because of the noise in the depth image. As you are using a Xtion, I recommend to stay up to 4 meters from objects/environments you are scanning. Far features have more noise, so odometry will shake more and will be less reliable.

The page https://github.com/introlab/rtabmap/wiki/Change-parameters is outdated. As mentioned at the top, most of these parameters are now used by default. ICP is not activated by default (it is now in Motion Estimation panel).

cheers