Re: icp_odometry with LOAM crash

Posted by matlabbe on Sep 09, 2021; 9:51pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html

I added FLOAM support inside rtabmap. If you want to try, you need the original FLOAM approach and apply this patch.

cd ~/catkin_ws/src 
git clone https://github.com/wh200720041/floam && \
    cd floam && \
    wget https://gist.githubusercontent.com/matlabbe/d8ab56e69146c18afbd1a3b05444c649/raw/f1f37ece5d5787c77f008cb89e9446fc20a40c1f/floam_as_library_support.patch && \
    git apply floam_as_library_support.patch
cd ..
catkin_make

Rebuild RTAB-Map from source and cmake should detect it. Set "--Odom/Strategy 11" to use FLOAM. To avoid duplicating more parameters, Icp/VoxelSize is used as the local map resolution (e.g., set it to 0.4 for kitti dataset). Otherwise, see LOAM prameters:

rtabmap --params | grep LOAM

Icp/RangeMax and Icp/RangeMin can be used to set max_dis and min_dis FLOAM parameters.

Here is a result on kitti 07 dataset:

rtabmap-report ./results/kitti/07/test_floam.db
Database: ./results/kitti/07/test_floam.db
   test_floam.db (1101, s=1.000):	error lin=0.468m (max=0.524m, odom=0.505m) ang=0.6deg, slam: avg=97ms (max=234ms) loops=17, odom: avg=55ms (max=180ms), camera: avg=7ms, map=2214MB