Re: Performance limitations with rtabmap-kitti_dataset tool?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Performance-limitations-with-rtabmap-kitti-dataset-tool-tp10730p10739.html

Can you share some images for left and right cameras? rtabmap-kitti_dataset is fully offline processing, every frames are processed. The issue you have is not computation issue, it is the lack of good visual correspondences between the images. Lack of texture or bad rectification may cause that issue. In case of lack of texture, there is nothing we can do, other than resetting odometry to continue with next frames. To do so, you can add "--Odom/ResetCountdown 1".

cheers,
Mathieu