ZED2 rtabmap loop closure and twisted map

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ZED2-rtabmap-loop-closure-and-twisted-map-tp6986.html

Dear people.


I took the ZED2 just to play a bit with it 🙂

Just to summarized, the following was installed:

    ZED SDK V 3.2.2 for Ubunto 18.04
    RtabMap V 0.20.4 (from source)
    rtabmap_ros  (from source)
    Cuada V 11.0
    Octomap
    zed_wrapper
    Among others


 

In the figures shown below, the following can be noticed.

1.- The map is shifted a lot before loop closure.

2.-  When there is a loop closure the map reminds twisted and not aligned  with the floor.

3.-  The octomap map on the image is shifted

4.-   When the camera is in the same point of view and in already visited place,  it does not make a loop closure, the camera needs to move forward and backwards on the same direction till finally it gets a loop closure. In other words,  it takes time for the loop closure to happen.


The script I am using is shown as follows.




<arg name="ground_is_obstacle" default="false"/>
<arg name="align_with_ground"  default="false"/>
<group ns="/zed/">
    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
     <arg name="rtabmap_args"  value="--delete_db_on_start --Optimizer/GravitySigma 0.3 --Grid/3D true --Grid/RangeMax 7  --Grid/CellSize 0.3 --Grid/GroundIsObstacle true localization:=false" />

      <arg name="rgb_topic"               value="/zed/zed_node/rgb/image_rect_color" />
     
      <arg name="depth_topic"             value="/zed/zed_node/depth/depth_registered" />
      <arg name="camera_info_topic"       value="/zed/zed_node/rgb/camera_info" /> 
      <arg name="depth_camera_info_topic" value="/zed/zed_node/depth/camera_info" />
      <arg name="frame_id"                      value="$(arg frame)" />
      <arg name="odom_frame_id"                 value="odom" />
      <arg name="approx_sync"                   value="false" />
      <arg name="visual_odometry"               value="false" />
      <arg name="rtabmapviz"                    value="false" />
      <arg name="rviz"                          value="false" />
      <arg name="odom_topic"                    value="/zed/zed_node/odom" />
     
    </include>
</group>















Any help I  appreciate it.