Re: misalignment from tango multi session

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5070.html

Hi,

I got a lot of "Thrown when a linear system is ill-posed." with your previous databases on my first trial too, particularly for the third session. By adding the "RGBD/LoopCovLimited" parameters, it helped to reduce this problem, though not definitively. If you are using the windows binaries and want to try this parameter, download the latest snapshot here. Check the parameter under Preferences->RGB-D SLAM->"Limit covariance of non-neighbor links...".

There is no built-in option to stream Tango data over RTAB-Map standalone on Windows, we should indeed use ROS for that with Tango ROS Streamer.

cheers,
Mathieu