Re: Outdoor Localization error while running zed-ros-examples using zed2i camera

Posted by impressivetoken on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Outdoor-Localization-error-while-running-zed-ros-examples-using-zed2i-camera-tp9773p9783.html

Hi again,

Thank you for your reply
I have attached the file of the above given screenshot just in case
Screenshot_2023-11-17_120633.png

(i)I have roslaunched the zed_rtabmap_example and put in the command "rosparam get /zed/rtabmap/RGBD/MaxOdomCacheSize" and the value i got was "10"

(ii)I am using ZED's odometry and all the parameters are default except the one's i have mentioned in the above post

(iii)I agree setting Vis/MinInliers to 7 is pretty low, but i just wanted to play around and decrease it just to see if i can get atleast a few localizations in the map which isnt the case anymore.

Whenever there is a loop closure rejection, it says "Not enough inliers 0/7" or "0/20" in default case.
(i havent had a single loop closure detection/localization and this is the only warning that i can see in the terminal whenever it rejects loop closures)

(iv)I also had a doubt on what exactly does "Rtabmap/MaxRepublished" do and what can happen if i increase or decrease that parameter?