Re: rtabmap does not find loop closures

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-does-not-find-loop-closures-tp6586p6615.html

Hi Mathiu.


Thank you for your answer.

What do you mean when you say: If you set RGBD/OptimizeStrategy, it will still be recognized for backward compatibility (copied to Optimizer/Strategy under the hood). sorry for not understanding :)

It sounds good to rebuild rtabmap with GTSAM support, however I have been using the binaries rtabmap_ros, e,g, I have installed rtabmap_ros over $sudo apt-get install 


well, so far I would like to keep the rtabmap_ros as it is:


When I run:
$rtabmap --version
RTAB-Map:               0.19.3
OpenCV:              3.3.1-dev
With TORO:                true
With g2o:                 true
With GTSAM:              false
With Vertigo:             true
With ZED:                false


So far I have been using:

$ rosparam get /zed/rtabmap/Optimizer/Strategy
'1'

$ rosparam get /zed/rtabmap/RGBD/OptimizeMaxError
'3.0'

$ rosparam get /zed/rtabmap/Optimizer/Robust
'false'

$ rosparam get /zed/rtabmap/Optimizer/GravitySigma
'0.3'


I have a question:

When I try to make a 3D outdoor map, sometimes I get a good map and sometimes I get the map you can see in the below pictures. The main problem is that when the odom catches or finds a odom-path, it gets deformed as you can see in the two pictures with red circles. Then the final 3D map is totally deformed.

Do you have a clue what can be wrong or do i need to set some  parameter?