Re: icp_odometry with LOAM crash

Posted by matlabbe on Jul 20, 2021; 4:50pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8348.html

Hi,

For the LOAM build error, a commit has been added recently: https://github.com/introlab/rtabmap/commit/ae92ec40d74abde8925a6d047c281062319e430a

For the crash, LOAM for the paper was tested using this version: https://github.com/introlab/rtabmap/blob/ae92ec40d74abde8925a6d047c281062319e430a/docker/jfr2018/Dockerfile#L133

To have faster icp_odometry, you can also try Frame-To-Frame (F2F) approach (Odom/Strategy=1). If you are based on test_ouster_gen2.launch, increase voxel_size. Icp/PointToPlane could be set to false (this will avoid to compute normals). OdomF2M/ScanMaxSize could be decreased.

cheers,
Mathieu