Re: Improving wall alignment in demo_mapping.bag example

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Improving-wall-alignment-in-demo-mapping-bag-example-tp1766p1775.html

Hi Patrick,

thx for sharing the old parameters. Indeed with them, the results are worst. Note that errors/warnings should be shown on terminal when starting rtabmap if some old parameters have changed or have been removed:

[ERROR] [1472077919.890084897]: Rtabmap: Parameter "LccBow/InlierDistance" doesn't exist anymore! You may look at this similar parameter: "Vis/InlierDistance"
[ERROR] [1472077919.894659316]: Rtabmap: Parameter "LccIcp/Type" doesn't exist anymore! You may look at this similar parameter: "Reg/Strategy"
[ WARN] [1472077919.947354431]: Rtabmap: Parameter name changed: "RGBD/LocalLoopDetectionSpace" -> "RGBD/ProximityBySpace". Please update your launch file accordingly. Value "true" is still set to the new parameter name.
[ WARN] [1472077919.947996984]: Rtabmap: Parameter name changed: "RGBD/LocalLoopDetectionTime" -> "RGBD/ProximityByTime". Please update your launch file accordingly. Value "false" is still set to the new parameter name.
[ WARN] [1472077919.954105308]: Rtabmap: Parameter name changed: "RGBD/PoseScanMatching" -> "RGBD/NeighborLinkRefining". Please update your launch file accordingly. Value "true" is still set to the new parameter name.

I think the problem here is that "RGBD/PoseScanMatching" is still used, but not "LccIcp/Type", leaving "Reg/Strategy" to "0" (visual). In that kind of environment (not a lot of visual features) and with the camera sensor used (Xtion, quite noisy over 4 meters), refining odom with visual features can add more errors. It is why "Reg/Strategy" is set to "1" (ICP) to refine only with the laser scans.

cheers,
Mathieu