Reproducing Multi-session Deployment

Posted by Kaifei on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reproducing-Multi-session-Deployment-tp578.html

I'm trying to reproduce the results of multi-session deployment.

It works perfectly with RTAB-Map version 0.8.x.
But I cannot get the correct results using RTAB-Map 0.10.4.
Attached a snapshot of map2 result using RTAB-Map 0.10.4 in Ubuntu 14.04 (compiled from git commit b90b46e).
The output log is also attached. It seems there are always insufficient inliers between two frames.

I'm using OpenCV 2.4.11 (with non-free) and PCL 1.7.2.
I'm using SURF.
I'm sure I loaded the provided ini file before I processed the data.
Is there any changes between 0.8.x and 0.10.4 that make this happen?


Thanks a lot!

Best,
Kaifei


output.txt