Re: Error generating Odometry Data - KITTI Dataset Sequence 00
Posted by
matlabbe on
Dec 10, 2022; 7:37pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-generating-Odometry-Data-KITTI-Dataset-Sequence-00-tp9217p9230.html
Hi, I was using a version with OpenCV from source (With OpenCV xfeatures2d: true), which used different features by default. However I just tried again with ros binaries:
rtabmap --version
RTAB-Map: 0.20.21
PCL: 1.10.0
With VTK: 7.1.1
OpenCV: 4.2.0
With OpenCV xfeatures2d: false
With OpenCV nonfree: false
With ORB OcTree: true
With SuperPoint Torch: false
With Python3: false
With FastCV: false
With OpenGV: false
With Madgwick: true
With PDAL: false
With TORO: true
With g2o: true
With GTSAM: false
With Vertigo: true
With CVSBA: false
With Ceres: false
With OpenNI2: true
With Freenect: true
With Freenect2: false
With K4W2: false
With K4A: false
With DC1394: true
With FlyCapture2: false
With ZED: false
With ZED Open Capture: false
With RealSense: false
With RealSense SLAM: false
With RealSense2: false
With MYNT EYE S: false
With DepthAI: false
With libpointmatcher: true
With CCCoreLib: false
With octomap: true
With cpu-tsdf: false
With open chisel: false
With Alice Vision: false
With LOAM: false
With FLOAM: false
With FOVIS: false
With Viso2: false
With DVO: false
With ORB_SLAM: false
With OKVIS: false
With MSCKF_VIO: false
With VINS-Fusion: false
With OpenVINS: false
I don't see big differences, here is the result:

You may try to show the Odometry/Inliers statistics, to make sure we have similar number of inliers (around 300):