Loop Closure Parameters

[minato_99]

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[matlabbe]

Not sure to understand what you are referring by increasing time for loop closure. Yes, rtabmap will automatically close loops  when they are detected. The detection rate is 1 Hz by default (Rtabmap/DetectionRate parameter), is it the frequency that you want to decrease?

You can also increase the STM size (Mem/STMSize parameter) to avoid loop closures on nodes that were just seen.

cheers,
Mathieu

[minato_99]

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[minato_99]

Hello matlabbe,


I am trying to map 20 m by 20 m area with a rover. The problem I was facing is that when I tried to map all the area at once. There was a loop closures at different locations than where it supposed to. It warped the map very badly. The reason could be lack of enough differentiating textures.  So, I navigate a certain region and come back to the place where I started to enforce the loop closure. It did work for me. However, there are few corners showing up in my map. I have attached the image  and database along with the code. Can you please help me figure out the problem?

code:

<?xml version="1.0" encoding="UTF-8"?>

<launch>

  <arg name="rtabmapviz"              default="false" />
  <arg name="rviz"                    default="true" />
 
  <arg name="localization"            default="false"/>

<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2) " />
<arg name="optical_rotate2" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)  " />                                                               
<node pkg="tf2_ros" type="static_transform_publisher" name="camera_chassis"
     args="$(arg optical_rotate) chassis camera" /> 
     
<group ns="/stereo" >
    <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>

    <node pkg="rtabmap_odom" type="stereo_odometry" name="stereo_odometry" output="screen">
   <remap from="left/image_rect"   to="left/image_rect_color"/>
     <remap from="right/image_rect"  to="right/image_rect"/>
     <remap from="left/camera_info"  to="left/camera_info"/>
     <remap from="right/camera_info" to="right/camera_info"/>
     
    </node>     
</group> 

<group ns="rtabmap">   
  <node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="delete_db_on_start"> 
 
        <remap from="left/image_rect"       to="/stereo/left/image_raw"/>
        <remap from="right/image_rect"      to="/stereo/right/image_raw"/>
        <remap from="left/camera_info"      to="/stereo/left/camera_info"/>
        <remap from="right/camera_info"     to="/stereo/right/camera_info"/>
       <remap from="odom" to="/stereo/odom"/>

  </node>
 </group>
 
  
 
   <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_stereo_outdoor.rviz"/> 
   
</launch>

Image:


Database:

rtabmap-info /home/rakesh/.ros/rtabmap_best_so_far.db
Parameters (Yellow=modified, Red=old parameter not used anymore, NA=not in database):
BRIEF/Bytes=                       32
BRISK/Octaves=                     3
BRISK/PatternScale=                1
BRISK/Thresh=                      30
Bayes/FullPredictionUpdate=        false
Bayes/PredictionLC=                0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23
Bayes/VirtualPlacePriorThr=        0.9
DbSqlite3/CacheSize=               10000
DbSqlite3/InMemory=                false
DbSqlite3/JournalMode=             3
DbSqlite3/Synchronous=             0
DbSqlite3/TempStore=               2
FAST/CV=                           0
FAST/Gpu=                          false
FAST/GpuKeypointsRatio=            0.05
FAST/GridCols=                     0
FAST/GridRows=                     0
FAST/MaxThreshold=                 200
FAST/MinThreshold=                 7
FAST/NonmaxSuppression=            true
FAST/Threshold=                    20
FREAK/NOctaves=                    4
FREAK/OrientationNormalized=       true
FREAK/PatternScale=                22
FREAK/ScaleNormalized=             true
GFTT/BlockSize=                    3
GFTT/K=                            0.04
GFTT/MinDistance=                  7
GFTT/QualityLevel=                 0.001
GFTT/UseHarrisDetector=            false
GMS/ThresholdFactor=               6.0
GMS/WithRotation=                  false
GMS/WithScale=                     false
GTSAM/Optimizer=                   1
Grid/3D=                           true
Grid/CellSize=                     0.05
Grid/ClusterRadius=                0.1
Grid/DepthDecimation=              4
Grid/DepthRoiRatios=               0.0 0.0 0.0 0.0
Grid/FlatObstacleDetected=         true
Grid/FootprintHeight=              0.0
Grid/FootprintLength=              0.0
Grid/FootprintWidth=               0.0
Grid/GroundIsObstacle=             false
Grid/MapFrameProjection=           false
Grid/MaxGroundAngle=               45
Grid/MaxGroundHeight=              0.0
Grid/MaxObstacleHeight=            0.0
Grid/MinClusterSize=               10
Grid/MinGroundHeight=              0.0
Grid/NoiseFilteringMinNeighbors=   5
Grid/NoiseFilteringRadius=         0.0
Grid/NormalK=                      20
Grid/NormalsSegmentation=          true
Grid/PreVoxelFiltering=            true
Grid/RangeMax=                     5.0
Grid/RangeMin=                     0.0
Grid/RayTracing=                   false
Grid/Scan2dUnknownSpaceFilled=     false
Grid/ScanDecimation=               1
Grid/Sensor=                       1
GridGlobal/AltitudeDelta=          0
GridGlobal/Eroded=                 false
GridGlobal/FloodFillDepth=         0
GridGlobal/FootprintRadius=        0.0
GridGlobal/FullUpdate=             true
GridGlobal/MaxNodes=               0
GridGlobal/MinSize=                0.0
GridGlobal/OccupancyThr=           0.5
GridGlobal/ProbClampingMax=        0.971
GridGlobal/ProbClampingMin=        0.1192
GridGlobal/ProbHit=                0.7
GridGlobal/ProbMiss=               0.4
GridGlobal/UpdateError=            0.01
Icp/CCFilterOutFarthestPoints=     false
Icp/CCMaxFinalRMS=                 0.2
Icp/CCSamplingLimit=               50000
Icp/CorrespondenceRatio=           0.1
Icp/DownsamplingStep=              1
Icp/Epsilon=                       0
Icp/Force4DoF=                     false
Icp/Iterations=                    30
Icp/MaxCorrespondenceDistance=     0.1
Icp/MaxRotation=                   0.78
Icp/MaxTranslation=                0.2
Icp/OutlierRatio=                  0.85
Icp/PMMatcherEpsilon=              0.0
Icp/PMMatcherIntensity=            false
Icp/PMMatcherKnn=                  1
Icp/PointToPlane=                  true
Icp/PointToPlaneGroundNormalsUp=   0.0
Icp/PointToPlaneK=                 5
Icp/PointToPlaneLowComplexityStrategy=1
Icp/PointToPlaneMinComplexity=     0.02
Icp/PointToPlaneRadius=            0.0
Icp/RangeMax=                      0
Icp/RangeMin=                      0
Icp/ReciprocalCorrespondences=     true
Icp/Strategy=                      1
Icp/VoxelSize=                     0.05
ImuFilter/ComplementaryBiasAlpha=  0.01
ImuFilter/ComplementaryDoAdpativeGain=true
ImuFilter/ComplementaryDoBiasEstimation=true
ImuFilter/ComplementaryGainAcc=    0.01
ImuFilter/MadgwickGain=            0.1
ImuFilter/MadgwickZeta=            0.0
KAZE/Diffusivity=                  1
KAZE/Extended=                     false
KAZE/NOctaveLayers=                4
KAZE/NOctaves=                     4
KAZE/Threshold=                    0.001
KAZE/Upright=                      false
Kp/BadSignRatio=                   0.5
Kp/ByteToFloat=                    false
Kp/DetectorStrategy=               8
Kp/FlannRebalancingFactor=         2.0
Kp/GridCols=                       1
Kp/GridRows=                       1
Kp/IncrementalDictionary=          true
Kp/IncrementalFlann=               true
Kp/MaxDepth=                       2  (default=0)
Kp/MaxFeatures=                    500
Kp/MinDepth=                       0
Kp/NNStrategy=                     1
Kp/NewWordsComparedTogether=       true
Kp/NndrRatio=                      0.8
Kp/Parallelized=                   true
Kp/RoiRatios=                      0.0 0.0 0.0 0.0
Kp/SubPixEps=                      0.02
Kp/SubPixIterations=               0
Kp/SubPixWinSize=                  3
Kp/TfIdfLikelihoodUsed=            true
Marker/CornerRefinementMethod=     0
Marker/Dictionary=                 0
Marker/Length=                     0
Marker/MaxDepthError=              0.01
Marker/MaxRange=                   0.0
Marker/MinRange=                   0.0
Marker/PriorsVarianceAngular=      0.001
Marker/PriorsVarianceLinear=       0.001
Marker/VarianceAngular=            0.01
Marker/VarianceLinear=             0.001
Mem/BadSignaturesIgnored=          false
Mem/BinDataKept=                   true
Mem/CompressionParallelized=       true
Mem/CovOffDiagIgnored=             true
Mem/DepthAsMask=                   true
Mem/GenerateIds=                   true
Mem/ImageCompressionFormat=        .jpg
Mem/ImageKept=                     false
Mem/ImagePostDecimation=           1
Mem/ImagePreDecimation=            1
Mem/IncrementalMemory=             true
Mem/InitWMWithAllNodes=            false
Mem/IntermediateNodeDataKept=      false
Mem/LaserScanDownsampleStepSize=   1
Mem/LaserScanNormalK=              0
Mem/LaserScanNormalRadius=         0.0
Mem/LaserScanVoxelSize=            0.0
Mem/LocalizationDataSaved=         false
Mem/MapLabelsAdded=                true
Mem/NotLinkedNodesKept=            true
Mem/RawDescriptorsKept=            true
Mem/RecentWmRatio=                 0.2
Mem/ReduceGraph=                   false
Mem/RehearsalIdUpdatedToNewOne=    false
Mem/RehearsalSimilarity=           0.30  (default=0.6)
Mem/RehearsalWeightIgnoredWhileMoving=false
Mem/STMSize=                       10
Mem/SaveDepth16Format=             false
Mem/StereoFromMotion=              false
Mem/TransferSortingByWeightId=     false
Mem/UseOdomFeatures=               true
Mem/UseOdomGravity=                false
ORB/EdgeThreshold=                 19
ORB/FirstLevel=                    0
ORB/Gpu=                           false
ORB/NLevels=                       3
ORB/PatchSize=                     31
ORB/ScaleFactor=                   2
ORB/ScoreType=                     0
ORB/WTA_K=                         2
Odom/AlignWithGround=              false
Odom/FillInfoData=                 true
Odom/FilteringStrategy=            0
Odom/GuessMotion=                  true
Odom/GuessSmoothingDelay=          0
Odom/Holonomic=                    true
Odom/ImageBufferSize=              1
Odom/ImageDecimation=              1
Odom/KalmanMeasurementNoise=       0.01
Odom/KalmanProcessNoise=           0.001
Odom/KeyFrameThr=                  0.3
Odom/ParticleLambdaR=              100
Odom/ParticleLambdaT=              100
Odom/ParticleNoiseR=               0.002
Odom/ParticleNoiseT=               0.002
Odom/ParticleSize=                 400
Odom/ResetCountdown=               0
Odom/ScanKeyFrameThr=              0.9
Odom/Strategy=                     0
Odom/VisKeyFrameThr=               150
OdomF2M/BundleAdjustment=          1
OdomF2M/BundleAdjustmentMaxFrames= 10
OdomF2M/MaxNewFeatures=            0
OdomF2M/MaxSize=                   2000
OdomF2M/ScanMaxSize=               2000
OdomF2M/ScanRange=                 0
OdomF2M/ScanSubtractAngle=         45
OdomF2M/ScanSubtractRadius=        0.05
OdomF2M/ValidDepthRatio=           0.75
OdomFovis/BucketHeight=            80
OdomFovis/BucketWidth=             80
OdomFovis/CliqueInlierThreshold=   0.1
OdomFovis/FastThreshold=           20
OdomFovis/FastThresholdAdaptiveGain=0.005
OdomFovis/FeatureSearchWindow=     25
OdomFovis/FeatureWindowSize=       9
OdomFovis/InlierMaxReprojectionError=1.5
OdomFovis/MaxKeypointsPerBucket=   25
OdomFovis/MaxMeanReprojectionError=10.0
OdomFovis/MaxPyramidLevel=         3
OdomFovis/MinFeaturesForEstimate=  20
OdomFovis/MinPyramidLevel=         0
OdomFovis/StereoMaxDisparity=      128
OdomFovis/StereoMaxDistEpipolarLine=1.5
OdomFovis/StereoMaxRefinementDisplacement=1.0
OdomFovis/StereoRequireMutualMatch=true
OdomFovis/TargetPixelsPerFeature=  250
OdomFovis/UpdateTargetFeaturesWithRefined=false
OdomFovis/UseAdaptiveThreshold=    true
OdomFovis/UseBucketing=            true
OdomFovis/UseHomographyInitialization=true
OdomFovis/UseImageNormalization=   false
OdomFovis/UseSubpixelRefinement=   true
OdomLOAM/AngVar=                   0.01
OdomLOAM/LinVar=                   0.01
OdomLOAM/LocalMapping=             true
OdomLOAM/Resolution=               0.2
OdomLOAM/ScanPeriod=               0.1
OdomLOAM/Sensor=                   2
OdomMSCKF/FastThreshold=           10
OdomMSCKF/GridCol=                 5
OdomMSCKF/GridMaxFeatureNum=       4
OdomMSCKF/GridMinFeatureNum=       3
OdomMSCKF/GridRow=                 4
OdomMSCKF/InitCovAccBias=          0.01
OdomMSCKF/InitCovExRot=            0.00030462
OdomMSCKF/InitCovExTrans=          0.000025
OdomMSCKF/InitCovGyroBias=         0.01
OdomMSCKF/InitCovVel=              0.25
OdomMSCKF/MaxCamStateSize=         20
OdomMSCKF/MaxIteration=            30
OdomMSCKF/NoiseAcc=                0.05
OdomMSCKF/NoiseAccBias=            0.01
OdomMSCKF/NoiseFeature=            0.035
OdomMSCKF/NoiseGyro=               0.005
OdomMSCKF/NoiseGyroBias=           0.001
OdomMSCKF/OptTranslationThreshold= 0
OdomMSCKF/PatchSize=               15
OdomMSCKF/PositionStdThreshold=    8.0
OdomMSCKF/PyramidLevels=           3
OdomMSCKF/RansacThreshold=         3
OdomMSCKF/RotationThreshold=       0.2618
OdomMSCKF/StereoThreshold=         5
OdomMSCKF/TrackPrecision=          0.01
OdomMSCKF/TrackingRateThreshold=   0.5
OdomMSCKF/TranslationThreshold=    0.4
OdomMono/InitMinFlow=              100
OdomMono/InitMinTranslation=       0.1
OdomMono/MaxVariance=              0.01
OdomMono/MinTranslation=           0.02
OdomORBSLAM/Bf=                    0.076
OdomORBSLAM/Fps=                   0.0
OdomORBSLAM/MapSize=               3000
OdomORBSLAM/MaxFeatures=           1000
OdomORBSLAM/ThDepth=               40.0
OdomOpen3D/MaxDepth=               3.0
OdomOpen3D/Method=                 0
OdomViso2/BucketHeight=            50
OdomViso2/BucketMaxFeatures=       2
OdomViso2/BucketWidth=             50
OdomViso2/InlierThreshold=         2.0
OdomViso2/MatchBinsize=            50
OdomViso2/MatchDispTolerance=      2
OdomViso2/MatchHalfResolution=     true
OdomViso2/MatchMultiStage=         true
OdomViso2/MatchNmsN=               3
OdomViso2/MatchNmsTau=             50
OdomViso2/MatchOutlierDispTolerance=5
OdomViso2/MatchOutlierFlowTolerance=5
OdomViso2/MatchRadius=             200
OdomViso2/MatchRefinement=         1
OdomViso2/RansacIters=             200
OdomViso2/Reweighting=             true
Optimizer/Epsilon=                 0.0
Optimizer/GravitySigma=            0.3
Optimizer/Iterations=              20
Optimizer/LandmarksIgnored=        false
Optimizer/PriorsIgnored=           true
Optimizer/Robust=                  false
Optimizer/Strategy=                1
Optimizer/VarianceIgnored=         false
PyDetector/Cuda=                   true
PyMatcher/Cuda=                    true
PyMatcher/Iterations=              20
PyMatcher/Model=                   indoor
PyMatcher/Threshold=               0.2
RGBD/AngularSpeedUpdate=           0.0
RGBD/AngularUpdate=                0.1
RGBD/CreateOccupancyGrid=          true  (default=false)
RGBD/Enabled=                      true
RGBD/GoalReachedRadius=            0.5
RGBD/GoalsSavedInUserData=         false
RGBD/InvertedReg=                  false
RGBD/LinearSpeedUpdate=            0.0
RGBD/LinearUpdate=                 0.1
RGBD/LocalBundleOnLoopClosure=     false
RGBD/LocalImmunizationRatio=       0.25
RGBD/LocalRadius=                  10
RGBD/LoopClosureIdentityGuess=     false
RGBD/LoopClosureReextractFeatures= false
RGBD/LoopCovLimited=               false
RGBD/MarkerDetection=              false
RGBD/MaxLocalRetrieved=            2
RGBD/MaxLoopClosureDistance=       0.0
RGBD/MaxOdomCacheSize=             10
RGBD/NeighborLinkRefining=         false
RGBD/NewMapOdomChangeDistance=     0
RGBD/OptimizeFromGraphEnd=         false
RGBD/OptimizeMaxError=             3.0
RGBD/PlanAngularVelocity=          0
RGBD/PlanLinearVelocity=           0
RGBD/PlanStuckIterations=          0
RGBD/ProximityAngle=               45
RGBD/ProximityBySpace=             false  (default=true)
RGBD/ProximityByTime=              false
RGBD/ProximityGlobalScanMap=       false
RGBD/ProximityMaxGraphDepth=       50
RGBD/ProximityMaxPaths=            3
RGBD/ProximityMergedScanCovFactor= 100.0
RGBD/ProximityOdomGuess=           false
RGBD/ProximityPathFilteringRadius= 1
RGBD/ProximityPathMaxNeighbors=    0
RGBD/ProximityPathRawPosesUsed=    true
RGBD/ScanMatchingIdsSavedInLinks=  true
RGBD/StartAtOrigin=                false
Reg/Force3DoF=                     true  (default=false)
Reg/RepeatOnce=                    true
Reg/Strategy=                      0
Rtabmap/ComputeRMSE=               true
Rtabmap/CreateIntermediateNodes=   false
Rtabmap/DetectionRate=             2  (default=1)
Rtabmap/ImageBufferSize=           1
Rtabmap/ImagesAlreadyRectified=    true
Rtabmap/LoopGPS=                   true
Rtabmap/LoopRatio=                 0
Rtabmap/LoopThr=                   0.11
Rtabmap/MaxRepublished=            2
Rtabmap/MaxRetrieved=              2
Rtabmap/MemoryThr=                 0
Rtabmap/PublishLastSignature=      true
Rtabmap/PublishLikelihood=         true
Rtabmap/PublishPdf=                true
Rtabmap/PublishRAMUsage=           false
Rtabmap/PublishStats=              true
Rtabmap/RectifyOnlyFeatures=       false
Rtabmap/SaveWMState=               false
Rtabmap/StartNewMapOnGoodSignature=false
Rtabmap/StartNewMapOnLoopClosure=  false
Rtabmap/StatisticLogged=           false
Rtabmap/StatisticLoggedHeaders=    true
Rtabmap/StatisticLogsBufferedInRAM=true
Rtabmap/TimeThr=                   3000  (default=0)
SIFT/ContrastThreshold=            0.04
SIFT/EdgeThreshold=                10
SIFT/NFeatures=                    0
SIFT/NOctaveLayers=                3
SIFT/RootSIFT=                     false
SIFT/Sigma=                        1.6
SURF/Extended=                     false
SURF/GpuKeypointsRatio=            0.01
SURF/GpuVersion=                   false
SURF/HessianThreshold=             500
SURF/OctaveLayers=                 2
SURF/Octaves=                      4
SURF/Upright=                      false
Stereo/DenseStrategy=              0
Stereo/Eps=                        0.01
Stereo/Iterations=                 30
Stereo/MaxDisparity=               128.0
Stereo/MaxLevel=                   5
Stereo/MinDisparity=               0.5
Stereo/OpticalFlow=                true
Stereo/SSD=                        true
Stereo/WinHeight=                  3
Stereo/WinWidth=                   15
StereoBM/BlockSize=                15
StereoBM/Disp12MaxDiff=            -1
StereoBM/MinDisparity=             0
StereoBM/NumDisparities=           128
StereoBM/PreFilterCap=             31
StereoBM/PreFilterSize=            9
StereoBM/SpeckleRange=             4
StereoBM/SpeckleWindowSize=        100
StereoBM/TextureThreshold=         10
StereoBM/UniquenessRatio=          15
StereoSGBM/BlockSize=              15
StereoSGBM/Disp12MaxDiff=          1
StereoSGBM/MinDisparity=           0
StereoSGBM/Mode=                   2
StereoSGBM/NumDisparities=         128
StereoSGBM/P1=                     2
StereoSGBM/P2=                     5
StereoSGBM/PreFilterCap=           31
StereoSGBM/SpeckleRange=           4
StereoSGBM/SpeckleWindowSize=      100
StereoSGBM/UniquenessRatio=        20
SuperPoint/Cuda=                   true
SuperPoint/NMS=                    true
SuperPoint/NMSRadius=              4
SuperPoint/Threshold=              0.010
VhEp/Enabled=                      false
VhEp/MatchCountMin=                8
VhEp/RansacParam1=                 3
VhEp/RansacParam2=                 0.99
Vis/BundleAdjustment=              1
Vis/CorFlowEps=                    0.01
Vis/CorFlowIterations=             30
Vis/CorFlowMaxLevel=               3
Vis/CorFlowWinSize=                16
Vis/CorGuessMatchToProjection=     false
Vis/CorGuessWinSize=               40
Vis/CorNNDR=                       0.8
Vis/CorNNType=                     1
Vis/CorType=                       0
Vis/DepthAsMask=                   true
Vis/EpipolarGeometryVar=           0.1
Vis/EstimationType=                1
Vis/FeatureType=                   8
Vis/ForwardEstOnly=                true
Vis/GridCols=                      1
Vis/GridRows=                      1
Vis/InlierDistance=                0.1
Vis/Iterations=                    300
Vis/MaxDepth=                      0
Vis/MaxFeatures=                   1000
Vis/MeanInliersDistance=           0.0
Vis/MinDepth=                      0
Vis/MinInliers=                    15  (default=20)
Vis/MinInliersDistribution=        0.0
Vis/PnPFlags=                      0
Vis/PnPMaxVariance=                0.0
Vis/PnPRefineIterations=           0
Vis/PnPReprojError=                2
Vis/RefineIterations=              5
Vis/RoiRatios=                     0.0 0.0 0.0 0.0
Vis/SubPixEps=                     0.02
Vis/SubPixIterations=              0
Vis/SubPixWinSize=                 3
g2o/Baseline=                      0.075
g2o/Optimizer=                     0
g2o/PixelVariance=                 1.0
g2o/RobustKernelDelta=             8
g2o/Solver=                        0
Db/TargetVersion=                  NA  (default="")
Icp/DebugExportFormat=             NA  (default="")
Icp/PMConfig=                      NA  (default="")
Kp/DictionaryPath=                 NA  (default="")
Marker/Priors=                     NA  (default="")
OdomOKVIS/ConfigPath=              NA  (default="")
OdomORBSLAM/VocPath=               NA  (default="")
OdomVINS/ConfigPath=               NA  (default="")
PyDetector/Path=                   NA  (default="")
PyMatcher/Path=                    NA  (default="")
Rtabmap/WorkingDirectory=          NA  (default="")
SuperPoint/ModelPath=              NA  (default="")

Info:

Path:               /home/rakesh/.ros/rtabmap_best_so_far.db
Version:            0.21.1
Sessions:           1
Total odometry length:395.392365 m
Total time:         1882.601000s
LTM:                3467 nodes and 855738 words (dim=32 type=8U)
WM:                 2353 nodes and 819438 words
Global graph:       3467 poses and 4998 links
Optimized graph:    2353 poses (x=4998->-9, y=8->-8, z=8->0)
Maps in graph:      1/1 [0(2353)]
Ground truth:       0 poses
GPS:                0 poses
Links:
  Neighbor:         4704
  GlobalClosure:    294
  LocalSpaceClosure:0
  LocalTimeClosure: 0
  UserClosure:      0
  VirtualClosure:   0
  NeighborMerged:   0
  PosePrior:        0
  Landmark:         0
  Gravity:          0

Database size:      1704 MB
Nodes size:         531 KB	(0.03%)
Links size:         1 MB	(0.10%)
RGB Images size:    667 MB	(39.17%)
Depth Images size:  616 MB	(36.16%)
Calibrations size:  2 MB	(0.16%)
Grids size:         55 MB	(3.24%)
Scans size:         0 Bytes	(0.00%)
User data size:     0 Bytes	(0.00%)
Dictionary size:    50 MB	(2.96%)
Features size:      282 MB	(16.58%)
Statistics size:    4 MB	(0.26%)
Other (indexing, unused):22 MB	(1.34%)

Thanks,
minato_99

[matlabbe]

Can you share the database?

[minato_99]

Hello matlabbe,

https://drive.google.com/file/d/1Fxj2ZxOuhBNxOftIlRkBjLvVwePLDDHy/view?usp=sharing

I have attached the link. Please access the database. I could not upload it because the size of the zip file is large.

Thanks,
minato_99

[matlabbe]

In general I would use Kp/MaxDepth=0 (in your map it is 2 meters), to get better loop closure hypotheses and transformation estimation. Loop closures over larger distance can also be detected.

I see that when the computer seems to use more CPU, like during vocabulary rebalancing:


It caused some glitches like this between two consecutive nodes added to map:


I don't know why it affected the odometry, unless the simulator itself lagged and gave poor data.

The map looks relatively good otherwise. Here a comparison without and with loop closure optimization:


cheers,
Mathieu