help with rtabmap remote mapping [closed]

asked 2020-11-02 10:11:07 -0500

MisticFury gravatar image

updated 2020-11-02 10:12:38 -0500

im trying to do remote mapping but the data is coming in delayed so it won't do real-time mapping and gets lost, i tried following the tutorial on the remote mapping and compresses the video so now the video is stable but my depth cloud is still highly delayed i can't figure out how to compress it also so that the data would be stable.

im using the rgbd_sync for the compression with an intel realsense d415 and this is the lunch file for the compression:

  <arg name="rate"         default="5"/>
  <arg name="decimation"   default="1"/>
  <arg name="depth_scale"  default="1"/>
  <arg name="approx_sync"  default="true" /> <!-- true for freenect driver -->
  <arg name="rgbd_sync"    default="true"/>

  <!-- Use same nodelet used by Freenect/OpenNI -->
  <group ns="camera">
    <node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager" output="screen">
      <param name="compressed_rate"  type="double" value="$(arg rate)"/>
      <param name="decimation"       type="double" value="$(arg decimation)"/>
      <param name="depth_scale"      type="double" value="$(arg depth_scale)"/>
      <param name="approx_sync"      type="bool"   value="$(arg approx_sync)"/>

      <remap from="rgb/image"       to="rgb/image_rect_color"/>
      <remap from="depth/image"     to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="rgb/camera_info"/>

      <remap from="rgbd_image"      to="rgbd_image"/>
    </node>

    <node unless="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">           
      <param name="rate"         type="double" value="$(arg rate)"/>                                                                                                          
      <param name="approx_sync"  type="bool"   value="$(arg approx_sync)"/>

      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info_in" to="rgb/camera_info"/>

      <remap from="rgb/image_out"       to="throttled/rgb/image_rect_color"/>
      <remap from="depth/image_out"     to="throttled/depth_registered/image_raw"/>
      <remap from="rgb/camera_info_out" to="throttled/rgb/camera_info"/>
    </node>
  </group>

what I like to know first is if i need to change the remap and does anyone know what decimation and depth_scale do no matter where I look I can't find any information on it.

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Closed for the following reason question is not relevant or outdated by MisticFury
close date 2020-11-02 19:44:44.627748