Re: Visual odometry drift when rotating

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Visual-odometry-drift-when-rotating-tp7441p7466.html

Hi,


The code here can give you a hint on how libpointmatcher config is used. I don't personally tested this a lot, so it may not work exactly as when using libpointmatcher directly.

Look also the parameter description:

$ rtabmap --params | grep Icp/PMConfig

Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., Icp/VoxelSize, Icp/DownsamplingStep), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters Icp/Iterations, Icp/Epsilon and Icp/MaxCorrespondenceDistance are also ignored if configuration file is set.

cheers,
Mathieu