New bee problem with D455f

[APOS80]

Hello there

Rtab map doesn’t seem to record IMU data.
There’s no odometry driver in the settings.

So I get depth view and such but odometry is absent and it’s not really recording anything.

Don’t know what’s wrong.

Rtab map on windows with a D455f

[APOS80]

I changed odometry to visual but don’t know if it incorporate the IMU data.

[matlabbe]

On rtabmap standalone, the IMU filter should be enabled under Source panel. It should be already enabled when selecting (in Main window -> Detection -> Select Source) supported cameras having IMU (e..g, realsense, zed, kinect azure, oak-d). The IMU data is not saved in the database, only the derived gravity constraints.

For visual odometry, F2M approach will integrate the IMU constraints (if provided) into the estimation.

If you have an external IMU, it is supported only on ROS. I don't own a variety of most used IMUs out there, so that is why I don't provide IMU drivers directly in the standalone.

cheers,
Mathieu

[APOS80]

Thank you.

And I can’t find much documentation.

[matlabbe]

Hi,

For the source panel, these two settings should be enough to use the camera's IMU:


For the Odometry panel, if F2M is selected (default), it should use the IMU constraints in VO.

[APOS80]

Great, thanks!