{"action":"created","issue":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/39","labels_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/39/labels{/name}","comments_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/39/comments","events_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/39/events","html_url":"https://github.com/introlab/rtabmap_ros/issues/39","id":111939546,"number":39,"title":"Flickering/Losing features often","user":{"login":"nanohaddad","id":12489292,"avatar_url":"https://avatars.githubusercontent.com/u/12489292?v=3","gravatar_id":"","url":"https://api.github.com/users/nanohaddad","html_url":"https://github.com/nanohaddad","followers_url":"https://api.github.com/users/nanohaddad/followers","following_url":"https://api.github.com/users/nanohaddad/following{/other_user}","gists_url":"https://api.github.com/users/nanohaddad/gists{/gist_id}","starred_url":"https://api.github.com/users/nanohaddad/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/nanohaddad/subscriptions","organizations_url":"https://api.github.com/users/nanohaddad/orgs","repos_url":"https://api.github.com/users/nanohaddad/repos","events_url":"https://api.github.com/users/nanohaddad/events{/privacy}","received_events_url":"https://api.github.com/users/nanohaddad/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":6,"created_at":"2015-10-17T02:36:02Z","updated_at":"2015-10-17T18:06:57Z","closed_at":null,"body":"I'm currently using the following workflow: \r\nZed Camera\r\nZed Ros Wrapper\r\nDepth Image Proc\r\nRTABMAP_ROS::RGBD_Mapping.launch\r\n\r\nWhile I keep getting a ton of great features, the tracking constantly loses all features for a second and returns to normal. \r\n\r\nI implemented the Odom/ResetOdometery parameter to avoid complete loss of tracking if it loses features for more than two seconds- while that does help in avoiding a complete halt it definitely doesn't solve the flickering issue. \r\n\r\nMy initial thought is that its due to the Zed Ros Wrapper being CPU bound, but I can't seem to get the CUDA GPU ZED wrapper working properly. \r\n\r\nAny thoughts or suggestions? \r\n\r\nIt'd also be great if someone has some advice on fusing IMU data  with RGB-D Odometry \r\n"},"comment":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/comments/148938523","html_url":"https://github.com/introlab/rtabmap_ros/issues/39#issuecomment-148938523","issue_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/39","id":148938523,"user":{"login":"matlabbe","id":2319645,"avatar_url":"https://avatars.githubusercontent.com/u/2319645?v=3","gravatar_id":"","url":"https://api.github.com/users/matlabbe","html_url":"https://github.com/matlabbe","followers_url":"https://api.github.com/users/matlabbe/followers","following_url":"https://api.github.com/users/matlabbe/following{/other_user}","gists_url":"https://api.github.com/users/matlabbe/gists{/gist_id}","starred_url":"https://api.github.com/users/matlabbe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/matlabbe/subscriptions","organizations_url":"https://api.github.com/users/matlabbe/orgs","repos_url":"https://api.github.com/users/matlabbe/repos","events_url":"https://api.github.com/users/matlabbe/events{/privacy}","received_events_url":"https://api.github.com/users/matlabbe/received_events","type":"User","site_admin":false},"created_at":"2015-10-17T18:06:57Z","updated_at":"2015-10-17T18:06:57Z","body":"There are no settings to scale x1000 (it was just a hard-coded test above). It should be done in your node publishing the depth image. \r\n\r\nStandard depth formats compatible with rtabmap:\r\n * 16UC1 : mm\r\n * 32FC1 : m\r\n\r\ncheers "}}