Incorrect Odometry position with Realsense D435 camera

[sandeepdutta]

Helllo All,

I am using an Intel Relasense D435 in RGBD mode with stella_vslam_ros. The Odometry position reported seems to
less by a factor of almost 10 i.e. when it moves 0.1 Meter (wheel odometry), the visual odometry reports a movement of 0.01 Meter. Any suggestions would be greatly appreciated.
Here is my Camera setup.
Camera:
name: "Realsens D435 in RGBD mode"
setup: "RGBD"
model: "perspective"

fx: 610.543579101562
fy: 610.674682617188
cx: 419.73681640625
cy: 242.103820800781

k1: 0.0
k2: 0.0
p1: 0.0
p2: 0.0
k3: 0.0

fps: 60.0
cols: 848
rows: 480
color_order: "RGB"

Thank you
Sandeep

[ymd-stella]

Set Processing::depthmap_factor to 1000.0

https://stella-cv.readthedocs.io/en/latest/parameters.html#preprocessing

example:

stella_vslam/example/tum_rgbd/TUM_RGBD_rgbd_3.yaml

Lines 38 to 40 in 0a1f13e

	Preprocessing:
	min_size: 800
	depthmap_factor: 5000.0 # Note: Set it to 1.0 for the rosbag format data set.

[sandeepdutta]

Thank you that worked
Sandeep