Inquiry on Visualization Differences During RTAB-Map Localization

[CGV_Kwak]

Hello, I am an undergraduate student working on developing an indoor autonomous navigation robot using the RealSense D455 with RTAB-Map for mapping and localization.

During my project, I encountered a question regarding the system’s behavior.

In the two images shown above, there seems to be a difference: sometimes, during localization mode, only a green screen appears, while at other times, both the green screen and the image appear together.

Could you please explain what causes this difference?

[matlabbe]

The "Match" image is not in the GUI cache. There is a mechanism to incrementally download old data from the map over time to avoid a bulk download at the beginning, but if you don't care about waiting on start, you can pre-download all images in cache by clicking this: