rtabmap ros node zed odom

[acp]

Hi dear people.

I do have:

*ZED stereo camera

*Jetson TX2 mounted on a drone.


I have installed:
SDK 2.8 on Jetson pack 3.3
Cuda 9
Ubuntu 16.04

I am using /zed/odom topic for 3D outdoor and indoor mapping and I would like to test the /zed/odom and if possible to improve it.


So the questions are:


* How can I test the /zed/odom?

* How can I improve it?


Regards and thank you :)

[matlabbe]

Hi,

For /zed/odom, you may ask on https://github.com/stereolabs/zed-ros-wrapper/issues

To evaluate it, you may need a GPS RTK if you are outdoor, or tracking system (e.g., VICON, OptiTrack...) indoor. Then having ground truth poses along odometry poses, you could evaluate its accuracy with TUM's evaluation tools.

cheers,
Mathieu