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Re: RTAB-Map stereo odometry inaccurate with ZED2i vs ZED

Posted by matlabbe on Feb 05, 2023; 5:25am
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-stereo-odometry-inaccurate-with-ZED2i-vs-ZED-tp9316p9329.html

Hi,

I tested the two bags like this:

zed:
rosbag info zed_rtabmap_vo.bag 
path:        zed_rtabmap_vo.bag
version:     2.0
duration:    13.6s
start:       Jan 31 2023 16:45:29.30 (1675212329.30)
end:         Jan 31 2023 16:45:42.87 (1675212342.87)
size:        40.5 MB
messages:    161
compression: none [46/46 chunks]
types:       sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image      [060021388200f6f0f447d0fcd9c64743]
             tf2_msgs/TFMessage     [94810edda583a504dfda3829e70d7eec]
topics:      /tf                                23 msgs    : tf2_msgs/TFMessage    
             /zed_node/left/camera_info         46 msgs    : sensor_msgs/CameraInfo
             /zed_node/left/image_rect_color    23 msgs    : sensor_msgs/Image     
             /zed_node/right/camera_info        46 msgs    : sensor_msgs/CameraInfo
             /zed_node/right/image_rect_color   23 msgs    : sensor_msgs/Image


roslaunch rtabmap_ros rtabmap.launch \
   args:="-d" \
   stereo:=true \
   left_image_topic:=/zed_node/left/image_rect_color \
   left_camera_info_topic:=/zed_node/left/camera_info \
   right_image_topic:=/zed_node/right/image_rect_color \
   right_camera_info_topic:=/zed_node/right/camera_info \
   use_sim_time:=true \
   frame_id:=zed_left_camera_optical_frame

rosbag play --clock zed_rtabmap_vo.bag 


zed2i:
rosbag info zed2i_rtabmap_vo.bag 
path:        zed2i_rtabmap_vo.bag
version:     2.0
duration:    16.4s
start:       Jan 31 2023 16:40:19.12 (1675212019.12)
end:         Jan 31 2023 16:40:35.50 (1675212035.50)
size:        140.9 MB
messages:    642
compression: none [161/161 chunks]
types:       sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image      [060021388200f6f0f447d0fcd9c64743]
             tf2_msgs/TFMessage     [94810edda583a504dfda3829e70d7eec]
topics:      /tf                                162 msgs    : tf2_msgs/TFMessage     (2 connections)
             /zed_node/left/camera_info         160 msgs    : sensor_msgs/CameraInfo
             /zed_node/left/image_rect_color     80 msgs    : sensor_msgs/Image     
             /zed_node/right/camera_info        160 msgs    : sensor_msgs/CameraInfo
             /zed_node/right/image_rect_color    80 msgs    : sensor_msgs/Image

roslaunch rtabmap_ros rtabmap.launch \
   args:="-d" \
   stereo:=true \
   left_image_topic:=/zed_node/left/image_rect_color \
   left_camera_info_topic:=/zed_node/left/camera_info \
   right_image_topic:=/zed_node/right/image_rect_color \
   right_camera_info_topic:=/zed_node/right/camera_info \
   use_sim_time:=true \
   frame_id:=zed2i_left_camera_optical_frame

rosbag play --clock zed2i_rtabmap_vo.bag 


Both trajectories look similar, however the framerate on zed is too slow for visual odometry (only 2 Hz), while zed2i is 10 Hz (not so bad but it could be faster).

cheers,
Mathieu