How can I use NVBLOX to perform long-term 3D reconstruction with my own RealSense D435i camera?

[fhqjwyk]

I want to use NVblox to reconstruct a 3D scene to test its navigation performance.

I’m using the tutorial at RealSense Camera Examples — Isaac ROS to create a map using my own camera, but the map disappears after movement. How can I configure it to retain all previous maps so I can save the entire scene using the save_ply service?

[vchuang]

Hello @fhqjwyk,

Thanks for your post!
If you need the map not being cleared and decay, there are two parameters you need to set in the launch file for running isaac_ros_nvblox node.

map_clearing_radius_m needs to be set less than or equal to 0.0 to disable map clearing.

decay_tsdf_rate_hz set as **0.0**to disable map decay.

However, there are some important considerations when doing this. By disabling clearing, the map will grow continuously as you move, so be mindful of your available GPU memory. Also, without map decay, accumulated pose drift will cause artifacts like double-surfaces or ghosting in the map over time and distance.

[fhqjwyk]

Useful, thank you very much.