Re: Error generating Odometry Data - KITTI Dataset Sequence 00

Posted by matlabbe on Dec 21, 2022; 3:14am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-generating-Odometry-Data-KITTI-Dataset-Sequence-00-tp9217p9261.html

Hi,

tested again even with images not exactly synchronized, cannot reproduce your problem...

You can make sure you are using the rtabmap binaries by re-sourcing only /opt/ros/noetic/setup.bash before the launch:

sudo apt install ros-noetic-rtabmap-ros
source /opt/ros/noetic/setup.bash
roslaunch ...

You can also show the actual processing time on your computer. Here are my results:


We can see for the 37 first seconds, we don't have the same number of inliers: