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-tp10730p10783.html

Hi,

These stereo images are not stereo rectified, there is a significative vertical disparity (which should be 0):


Visual odometry will never work properly if you don't calibrate them correctly.

To know when vo is reset, you may check the twist or pose covariance of the odometry topic to know when the odometry is reset, it should show like 9999 values.

cheers,
Mathieu