Re: misalignment from tango multi session
Posted by
sDeboffle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5971.html
hi
I solve the g2o problem. I reinstall libg2o. that's work now.
I also change the lidar tilt from 30 to 10°.
Mapping is great but I'm limited from 600 to 1000 images per DB before RTABmap freeze mapping and console indicate :
[ WARN] [1560791253.260951213]: Could not get transform from Lidar to Lidar accordingly to odom after 0.100000 seconds (for stamps=1560791252.249110 -> 1560791252.942867)! Error="Lookup would require extrapolation into the future. Requested time 1560791252.942867056 but the latest data is at time 1560791233.089997952, when looking up transform from frame [odom] to frame [Lidar]. canTransform returned after 0.100979 timeout was 0.1.".
how can I increase my scan duration without lossing in precision?
Is there a way to refine ICP in database viewer? or a way to access libpointmatcher settings on standelone?
If I stop my scan and restart a second scan at the same place, is this work like with tango multi-session?
https://wetransfer.com/downloads/05fa30d62d783c1fa228f2a48ff23b9420190618142130/7f3451ff12a2601fcc7ee8fb2f4ac6d620190618142130/87a148cheers
stephane