different results of running rtabmap+zed live and it's rosbag

[Yuli]

Dear Mathieu
I ran rtabmap+zed live and at the same time rosbag recorded all topics for later use.
I extracted rosbag to feed rtabmap by
rosbag filter 2018-05-08-10-55-51.bag only-stereo3.bag "topic == '/stereo_camera/left/image_rect_color' or topic == '/stereo_camera/right/image_rect_color' or topic == '/stereo_camera/left/camera_info' or topic ==  '/stereo_camera/right/camera_info' or topic=='/tf' or topic=='/tf_static' '"  

When I ran  rtabmap+zed live, both odometry and map were generated well,
but when I ran rtabmap+rosbag , the odometry always lost at the same certain point
where rtabmap+zed live worked normally.

[ERROR] (2018-05-08 14:44:18.406) Rtabmap.cpp:902::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 1758 is ignored!
[ INFO] [1525761858.406544637, 1525748454.237285672]: rtabmap (77): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0000s, Maps update=0.0000s pub=0.0000s (local map=72, WM=72)
[ WARN] (2018-05-08 14:44:18.760) OdometryF2M.cpp:372::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=6) between -1 and 0"

Should I dig this out or try to connect different maps constructed before and
after odometry lost.
Thanks a lot!!

[Yuli]

BTW,
I already did
rosparam set use_sim_time true
and
rosbag play only-stereo.bag --clock

[matlabbe]

Hi,

live or with a rosbag it should give the same results. The only thing with a rosbag is if the images were actually recorded at the same rate than they are published (no lag writing on hard-drive) and that the computer is able to replay them without lagging. You can set some "rostopic hz" on /stereo_camera/left/image_rect_color and /stereo_camera/right/image_rect_color while mapping to see if there is a framerate drop at some point.

cheers,
Mathieu

[Yuli]

 
just found out lots of data lost when recorded,
not wonder odometry got lost,
thank you!!