Re: rtabmap_ros outdoor 3D mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-outdoor-3D-mapping-tp6104p6546.html

Hi,

The Yard.db seems not the right one, it is indoor and not moving. The bag is too large to download, the connection is very slow and fails many times. Can you use a google drive or dropbox instead?

The easiest way to replay a rtabmap.db is to do it in standalone version. Launch:

$ rtabmap Yard.db

Say yes to resuse same parameters, then click on close database. Click on New, then in Source options, select database type. Select Yard.db as input database path in the Source panel in Preferences. Then do start. To change rtabmap parameters, just close/clear the curent session, changes parameters, and re-click start. The images and odometry contained in database will be republished.

Try comparing with Optimizer/GravitySigma set or not, the gravity links may be the cause of bad graph optimizations (because IMU and camera TF is not accurate or there is some time synchronization issues between them). For points under the ground, I explained it in my previous post, the disparity algorithm is failing with surfaces too close to camera.

cheers,
Mathieu