Re: odom frame flickers when playing rtabmap with rosbag

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odom-frame-flickers-when-playing-rtabmap-with-rosbag-tp228p526.html

Hi Alex,

In the multi-session example, each bag started exactly with Identity odometry, which is detected by rtabmap to start a new map automatically. Well, if your odometry is not reset to Identity, you can set the parameter "RGBD/NewMapOdomChangeDistance" to maybe 2 meters ("A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled)."). So if there is a change about 2 meters of position between your bags (last odometry pose of the previous bag vs first odometry pose of the new bag), new maps should be created (without the neighbor link between the two maps/bags).

Note that with "RGBD/OptimizeFromGraphEnd=false" on multi-session experiments, the map referential may change when revisiting previous maps because the map will be always optimized from the oldest node. If the oldest node is now from a previous map (which had a different referential), the whole map/localization may jump accordingly to the oldest session.

cheers