Issue related to RGBD/SavedLocalizationIgnored parameter

[rahul_moorthy]

Hello,

Thank you for the this great mapping tool. Really helping me a lot.

I was working on a project. when the robot is in completely different room in localization mode. Even then the localization is happening at the last localized position. I had also set the RGBD/SavedLocalizationIgnored parameter as true but even after that the error persisted. Help on this would be much appreciated. I have added the rtabmap and rgbdodom parameters below for your reference.

map_config.txt

It always starts by saying- Rtabmap.cpp:1076::process() Update map correction based on last localization saved in database! correction = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000, nearest id = 1 of last pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000, odom = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000

I had one more question regarding the parameters. There are vis parameters in the rtabmap and rgbdodometer. I do understand that the rgbd odometer node is independent and loosely coupled with the rtabmap but wanted to understand when and how are the vis parameters of rtabmap are used. From what I understand, when we use mem/useodom features as true it directly uses the visual features of the odom for loop closure detection so in that scenario does the rtabmap vis feature setting get ignored?

Thanks!!

[matlabbe]

For the first part, see https://github.com/introlab/rtabmap/issues/625#issuecomment-723394799

Mem/UseOdomFeatures is not used under ROS. With the standalone version, the features extracted from odometry can then be used directly for loop closure detection (no need to re-extract a second time). All Kp and Vis parameters are still used, except for the detector strategy as features are already extracted.

[Masoumeh]

hi Mattieu,

I have also the same problem. I do not know in which file i should add (RGBD/SavedLocalizationIgnored ) Parameter. and in which part of ?


Thanks

[Masoumeh]

Hi Rahul,

I have the same problem, Would you please tell me you add the parameter (RGBD/SavedLocalizationIgnored parameter) to which launch file? and in which part?

because I also add this parameter (RGBD/SavedLocalizationIgnored) to the rtabmap.launch file, but the error is appeared again.

Thanks

[Masoumeh]

Hi Mattieu,

I have checked and find out that "RGBD/SavedLocalizationIgnored"  changed to "RGBD/StartAtOrigin". I have also changed this parameter in Parameters.h file, into true. but it didnot work.

NOTE: I am working with 3D lidar, and DO NOT have Camera.

I would be grateful if you help me to find out how can i solve this problem.

thanks a lot