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-tp5046p6290.html
Hi,
You should not have to set Rtabmap/TimeThr in many cases, unless you want to play with memory management. I would keep it at 0 for debugging the setup first.
What looks like the TF tree in RVIZ? Your image/lidar are tilted a lot!
For the warning, check the update time, 100 ms on new computer and 40 ms on the older one. Are they using the same parameters? Are the point clouds larger on new pc? The frame rate would not affect the odometry time.
If you have a rosbag + launch file used to use the bag, I may take some time to try it.
cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p6290.html
Hi,
You should not have to set Rtabmap/TimeThr in many cases, unless you want to play with memory management. I would keep it at 0 for debugging the setup first.
What looks like the TF tree in RVIZ? Your image/lidar are tilted a lot!
For the warning, check the update time, 100 ms on new computer and 40 ms on the older one. Are they using the same parameters? Are the point clouds larger on new pc? The frame rate would not affect the odometry time.
If you have a rosbag + launch file used to use the bag, I may take some time to try it.
cheers,
Mathieu
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