Re: Losing odometry when doing fixed point scanning

Posted by scanboy on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Losing-odometry-when-doing-fixed-point-scanning-tp4336p4907.html

Hi,

I got this to work using Loop Closure and Multi Camera, but I have noticed that when there are a lot of inliers (like 1000+)  I get the wrong yaw, x and y feels correct though. In the example below, the pose in bold gets the wrong yaw but most likely got the correct x,y. 0.701933 is close to 0.68346 but 0.701933 is wrong with about 45 degrees. Interestingly my multicamera sensor data is separated by 45 degrees (*8=360)
What can be done to prevent this?
The poses following the wrong one

7835:[DEBUG] (2018-07-31 13:59:24.171) util3d_registration.cpp:219::transformFromXYZCorrespondences() RANSAC inliers=683/1406 tf=xyz=-0.582010,-0.491917,-0.007348 rpy=-0.003194,0.010166,-0.895116
7906:[DEBUG] (2018-07-31 13:59:26.605) util3d_registration.cpp:219::transformFromXYZCorrespondences() RANSAC inliers=682/1387 tf=xyz=-0.581125,-0.493516,-0.007377 rpy=-0.003855,0.009947,-0.895146
8126:[DEBUG] (2018-07-31 14:01:55.189) Rtabmap.cpp:1245::process() Added pose xyz=5.400993,1.651987,0.000000 rpy=0.000000,-0.000000,0.684386 (odom=xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000)
8248:[DEBUG] (2018-07-31 14:01:57.683) util3d_registration.cpp:219::transformFromXYZCorrespondences() RANSAC inliers=1360/2034 tf=xyz=-0.373358,0.225694,-0.001120 rpy=-0.007259,0.001301,-0.017608
8321:[DEBUG] (2018-07-31 14:02:00.082) util3d_registration.cpp:219::transformFromXYZCorrespondences() RANSAC inliers=1322/1953 tf=xyz=-0.373237,0.225743,-0.000976 rpy=-0.007443,0.001289,-0.017557
8539:[DEBUG] (2018-07-31 14:04:30.169) Rtabmap.cpp:1245::process() Added pose xyz=5.831758,1.720608,0.000000 rpy=0.000000,-0.000000,0.701933 (odom=xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000)
8665:[DEBUG] (2018-07-31 14:04:32.960) util3d_registration.cpp:219::transformFromXYZCorrespondences() RANSAC inliers=328/972 tf=xyz=-0.935263,0.004363,-0.003679 rpy=-0.003178,-0.003636,0.045954
8734:[DEBUG] (2018-07-31 14:04:35.310) util3d_registration.cpp:219::transformFromXYZCorrespondences() RANSAC inliers=306/952 tf=xyz=-0.935586,0.004978,-0.003911 rpy=-0.003801,-0.003522,0.046266
8955:[DEBUG] (2018-07-31 14:06:25.918) Rtabmap.cpp:1245::process() Added pose xyz=6.576385,2.287081,0.000000 rpy=0.000000,-0.000000,0.655680 (odom=xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000)