Re: KITTI 00 sequence & rtabmap.

Posted by felipeduque on
URL: http://official-rtab-map-forum.206.s1.nabble.com/KITTI-00-sequence-rtabmap-tp7625p7746.html

Unscrupulously hijacking this thread: I'm facing the issue of smaller amount of poses obtained than the ground truth for KITTI, when using "rtabmap-kitti_dataset" with images and Velodyne.

In sequence 0, there are 4541 pictures, and I can see all 4541 nodes in the database-viewer when the detection rate is 2Hz and "createIntermediaryNodes=true". However, the 3D map shows very sparse point clouds, probably because the intermediate nodes were not assigned their point clouds because of the 2Hz rate.

I really need all nodes to have their point clouds, so I set the rate to 10Hz, but to my surprise, now I had only 384 nodes, even with the intermediary nodes option being set. The same amount of nodes is obtained when the rate is set to 20Hz. What could be going on? All the other options for "rtabmap-kitti_dataset" are the standard ones shown in the help text, with "--scan".

EDIT: "rtabmap-report" says that odometry processing time stays below 100ms, so probably it's not a CPU processing issue. (However, my RTAB-Map version is 0.17.6, the statistics is called "Odometry/TotalTime/ms", but hopefully it means the same thing.)

EDIT 2: I solved it partially by realizing that sequence 00 had several straight line segments, and "RGBD/AngularUpdate = 0.1" (its default value) prevented new nodes from being generated. After setting it to zero, I finally obtained all nodes matching with the ground truth, even without creating intermediary ones. However, several nodes do not have depth data ("SensorData.depthRaw().empty()" is true for them). Why is that?