Re: KITTI 00 sequence & rtabmap.

Posted by Mikor on
URL: http://official-rtab-map-forum.206.s1.nabble.com/KITTI-00-sequence-rtabmap-tp7625p7698.html

Hey Mathieu,

thanks again for your response, but it seems that I am not getting an exact match of poses. I work on this example in the 07 sequence (because it is smaller and it saves time), when I use the /Rtabmap/CreateIntermediateNodes I get a few less poses than the groundtruth txt contains 1101. I thought that when I change the  My second thought based on this post  was that it doesn't create a crucial key frame in order to fill the intermediate nodes and I set the threshold to lower values but this does not seem to work and the errors increase so even it worked it wouldn't be ideal.

With detection rate set at 2 and the use of intermediate nodes I get 1020 poses.
Same detection rate and without the intermediate nodes I get 208 poses.
When I set the detection rate at 10 and with or without intermediate nodes I get 1018 poses.

If I open the database it says that 1101 ids loaded but if I export map's graph it results in 1020 poses and if export odometry then the poses match the 1101, should I do the latter and do the rest comparisons to test my parameters??

Also you are correct about the format of kitti values. I double checked the text file in devkit that KITTI provides and it says the same thing.

With gratitude,
Anthony