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Hi Alex, I've played around with QVGA and also had the problem with the wrong camera info. I think I included some hack to workaround this, but the support for qvga resolution in rgbdslam may be a bit brittle and require fiddling with the settings as I didn't test it much. I am interested in the related bug reports though.

Anyway, the first error you get is because you do not change both images (rgb+depth) to qvga, but just one of them.

Hi Alex, I've played around with QVGA and also had the problem with the wrong camera info. I think I included some hack to workaround this, but the support for qvga resolution in rgbdslam may be a bit brittle and require fiddling with the settings as I didn't test it much. I am interested in the related bug reports though.

Anyway, the first error you get is because you do not change both images (rgb+depth) to qvga, but just one of them.them.

Hi Alex, I've played around with QVGA and also had the problem with the wrong camera info. I think I included some hack to workaround this, but the support for qvga resolution in rgbdslam may be a bit brittle and require fiddling with the settings as I didn't test it much. I am interested in the related bug reports though.

Anyway, the first error you get is because you do not change both images (rgb+depth) to qvga, but just one of them.

Edit:

I checked and I don't get that error. However, I do have problems changing to qvga while everything runs, so I start roslaunch openni_launch openni.launch, then use dynamic reconfigure to switch rgb and depth to QVGA. Then I start rgbdslam (without openni).

Rgbdslam is probably usable with QVGA. But you must subsribe to the point cloud (the cloud computation inside rgbdslam is affected by Edit2: I've checked in a workaround for the camera_info problem) and I guess you need to set problem. Have a look at the parameter "observability_threshold" to a negative value.new launchfile "qvga-kinect+rgbdslam.launch", it should work "out of the box".