rtabmap How to set the fps of orbbec under ratbmap? It seems that only the width and height of the image can be set？

How to set the fps of orbbec under ratbmap? It seems that only the width and height of the image can be set？

After selecting the OrbbecSDK, i changed the value to 30 in the "rate" option, but the fps remains at the default value of 90.

Nov 28 '25 08:11 mcmingchang

We didn't expose the frame rate to automatically use the fastest one internally by default, in order to get the best depth-rgb time sync possible. However, when you set input rate to 30 hz or lower, odometry will be processed on that 30 Hz or lower image rate, even if orbbec driver is set to use faster frame rate.

Which orbbec camera are you using? it seems mine (Astra 2) doesn't support more than 30 Hz:

log...

[ INFO] (2025-11-28 15:32:30.461) CameraOrbbecSDK.cpp:227::init() 1 device(s) found
[ INFO] (2025-11-28 15:32:30.470) CameraOrbbecSDK.cpp:268::init() Device 0:
[ INFO] (2025-11-28 15:32:30.470) CameraOrbbecSDK.cpp:269::init()    Name: Orbbec Astra 2
[ INFO] (2025-11-28 15:32:30.470) CameraOrbbecSDK.cpp:270::init()    Type: TOF Camera
[ INFO] (2025-11-28 15:32:30.470) CameraOrbbecSDK.cpp:271::init()    Serial: AARK75300N7
[ INFO] (2025-11-28 15:32:30.470) CameraOrbbecSDK.cpp:272::init()    UID: 2-7-2
[ INFO] (2025-11-28 15:32:30.470) CameraOrbbecSDK.cpp:273::init()    Chip: Mx6600
[ INFO] (2025-11-28 15:32:30.470) CameraOrbbecSDK.cpp:274::init()    Hardware version: V2.1
[ INFO] (2025-11-28 15:32:30.470) CameraOrbbecSDK.cpp:275::init()    Firmware version: 2.8.20
[ INFO] (2025-11-28 15:32:30.470) CameraOrbbecSDK.cpp:298::init() Global (host time sync) timestamp is supported.
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:323::init() Supported color profiles:
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 30, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 30, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 30, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 30, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 15, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 15, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 15, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 10, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 10, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 10, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 5, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 5, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1920x1080, FPS: 5, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 30, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 30, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 30, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 15, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 15, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 15, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 10, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 10, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 10, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 5, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 5, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1440x1080, FPS: 5, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 30, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 30, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 30, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 15, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 15, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 15, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 10, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 10, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 10, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 5, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 5, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x960, FPS: 5, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 30, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 30, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 15, Format: 22
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 15, Format: 5
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 15, Format: 0
[ INFO] (2025-11-28 15:32:30.642) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 10, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 10, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 10, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 5, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 5, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 1280x720, FPS: 5, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 30, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 30, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 30, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 15, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 15, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 15, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 10, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 10, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 10, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 5, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 5, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 5, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 30, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 30, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 30, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 15, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 15, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 15, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 10, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 10, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 10, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 5, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 5, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x480, FPS: 5, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 30, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 30, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 30, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 15, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 15, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 15, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 10, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 10, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 10, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 5, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 5, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 640x360, FPS: 5, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 30, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 15, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 10, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 5, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 30, Format: 22
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 30, Format: 5
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 30, Format: 0
[ INFO] (2025-11-28 15:32:30.643) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 15, Format: 22
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 15, Format: 5
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 15, Format: 0
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 10, Format: 22
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 10, Format: 5
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 10, Format: 0
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 5, Format: 22
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 5, Format: 5
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x240, FPS: 5, Format: 0
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x180, FPS: 30, Format: 0
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x180, FPS: 15, Format: 0
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x180, FPS: 10, Format: 0
[ INFO] (2025-11-28 15:32:30.644) CameraOrbbecSDK.cpp:327::init() Resolution: 320x180, FPS: 5, Format: 0
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:323::init() Supported depth profiles:
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 30, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 30, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 30, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 15, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 15, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 15, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 10, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 10, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 10, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 5, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 5, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 1600x1200, FPS: 5, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 30, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 30, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 30, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 15, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 15, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 15, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 10, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 10, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 10, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 5, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 5, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 800x600, FPS: 5, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 30, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 30, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 30, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 15, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 15, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 15, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 10, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 10, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 10, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 5, Format: 24
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 5, Format: 21
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:327::init() Resolution: 400x300, FPS: 5, Format: 8
[ INFO] (2025-11-28 15:32:30.654) CameraOrbbecSDK.cpp:356::init() Starting imu pipeline
[ INFO] (2025-11-28 15:32:30.658) CameraOrbbecSDK.cpp:428::init() Using color profile: 800x600
[ INFO] (2025-11-28 15:32:30.658) CameraOrbbecSDK.cpp:429::init() Using depth profile: 800x600
[ INFO] (2025-11-28 15:32:30.658) CameraOrbbecSDK.cpp:439::init() Starting camera pipeline
[ INFO] (2025-11-28 15:32:30.681) CameraOrbbecSDK.cpp:456::init() IMU local transform: xyz=0.002242,-0.018621,-0.000117 rpy=-1.567321,-0.001860,-1.568717
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 30, Format: 24
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 30, Format: 21
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 30, Format: 8
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 15, Format: 24
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 15, Format: 21
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 15, Format: 8
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 10, Format: 24
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 10, Format: 21
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 10, Format: 8
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 5, Format: 24
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 5, Format: 21
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 800x600, FPS: 5, Format: 8
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 30, Format: 24
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 30, Format: 21
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 30, Format: 8
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 15, Format: 24
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 15, Format: 21
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 15, Format: 8
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 10, Format: 24
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 10, Format: 21
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 10, Format: 8
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 5, Format: 24
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 5, Format: 21
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:487::init() Supported depth to color format: Resolution: 400x300, FPS: 5, Format: 8
[ INFO] (2025-11-28 15:32:30.682) CameraOrbbecSDK.cpp:502::init() Enabling hardware depth to color registration!

If you are using an Orbbec Stereo camera, we may revise how we set the rate because we could assume that both left and right cameras are already synchronized.

Nov 28 '25 23:11 matlabbe

Orbbec 335 and 335L

Dec 02 '25 01:12 mcmingchang

Looks like similar than realsense stereo cameras. I can check to had an option to set the frame rate at the camera level. Also, because I don't have these cameras, it could be useful if you can copy/paste all possible configurations as shown in the log of my previous post. If you are using the windows release with default terminal, you can show a console directly in the UI. To show these logs, you have to set the right level here in Preferences:

Back to main window, show Window->View->Console, start the mapping and stop just afterwards to pause, then you should see the log by scrolling to the top (you can also copy/paste the whole log):

Dec 02 '25 04:12 matlabbe

Because it is running on an edge device, printing cannot be replicated, so we use the method of taking photos

Dec 02 '25 09:12 mcmingchang

If possible, the input of rtabmap-rgbd_camera can be set with img_h, img_w and fps

Dec 02 '25 09:12 mcmingchang

Hi, My orbbec gemini 336L has colour resolution 1280x720 and depth image resolution as 848x480...now will this resolution difference between an issue if I use rgbd odometry for online slam...note when I run the camera with color mode disabled..the depth/image_raw gives proper pixel values when echoed in terminal but when I enable it...the same topic gives 0 values for pixels...not only that the frame id also changes to camera_colour_optical_frane instead of camera_depth_optical_frame...

Another issue is that when I use rgbd odometry..even after proper remappings with the topics, thelog says that it has not recieved data more than five seconds from the sayd topic that are /camera/colour/image_raw and so on...could these two issues be related can could you provide a fix ...please ask if you need and further context

Also could you help me remap the topics correctly for rgbd odometry Thank you

Dec 10 '25 18:12 Shreyaskar05