Re: Global Optimizing with Loop Closure and Navigation After Mapping.

Posted by imran05 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Global-Optimizing-with-Loop-Closure-and-Navigation-After-Mapping-tp11061p11198.html

Hello,

I've been following your recommendations from last week, but I'm still uncertain if stereo rectification is the root cause of my issue. Upon inspecting both the left and right images, I didn't observe any vertical shift:
GIMP_VErticalShiftChecking_150.mp4

Additionally, I've checked the timestamps from my stereo camera, and both the left and right topics appear to be synchronized. I used "approx_sync:=true" and set "approx_sync_max_interval:=0.001" in my code:

Timestamps:
Left CameraInfo:  1747807021.4514253
Right CameraInfo: 1747807021.4514253
Left Image:       1747807021.4514253
Right Image:      1747807021.4514253
IMU:              1747807021.4497094

I've recently updated my map using the OAK D PRO W POE Camera, and I didn't notice any stereo synchronization issues. Here's the link to the database link Could you also please advise on how to generate the GIF showing both left and right image disparities?

Furthermore, I encountered similar localization issues when using the RealSense D435i camera. Here's the Realsense database link. Could you kindly assist me in achieving accurate localization? If I need to adopt the VIO approach with RTAB-Map, how should I proceed? I attempted to install Superpoint, but I encountered issues related to PyTorch, even when using Docker.

I look forward to your response.

Best regards,