incorrect rtabmap parameters, loop closure problem

edit

Hello! I am looking at some amazing rtabmap mappings such as

https://www.youtube.com/watch?v=Fvhxd...

https://www.youtube.com/watch?v=j8OYl...

and my mapping does not look good at all, I dont know why exactly, distance for mapping is too big or odometry is not enough good, there is a lot of shifts and inexactitudes.

here it is: https://yadi.sk/i/89HN-ixWRIJvvw (if there is no play button, try to reload page)

I am using only two cameras, d435 and t265 firmly attached to each other, and walking indoor with laptop in one hand and those cameras in other hand.

Can anyone take a glance on my rtabmap parameters and tell me what is definitely incorrect there?

<launch>
  <arg name="use_zed"         default="false"  doc="Set to false when using Intel Realsense D435"/>
  <arg name="localization"    default="false" doc="Localization mode for navigation"/>
  <arg name="database_path"   default="rtabmap.db"/>
  <arg name="rviz"            default="false"/>
  <arg name="rate"            default="1.0"/>
  <arg name="camera_frame"    default="d400"/>

  <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
  <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>
  <arg     if="$(arg localization)" name="rviz_config"   default="$(find turtlebot3_slam_3d)/config/navigation.rviz"/>
  <arg unless="$(arg localization)" name="rviz_config"   default="$(find turtlebot3_slam_3d)/config/mapping.rviz"/>

  <arg name="input_scan"       default="/scan"/>
  <arg name="input_odom"       default="/t265/odom/sample"/>
  <arg     if="$(arg use_zed)" name="input_image"        default="/stereo_camera/left/image_rect_color"/>
  <arg unless="$(arg use_zed)" name="input_image"        default="/d400/color/image_raw"/>
  <arg     if="$(arg use_zed)" name="input_depth"        default="/stereo_camera/depth/depth_registered"/>
  <arg unless="$(arg use_zed)" name="input_depth"        default="/d400/aligned_depth_to_color/image_raw"/>
  <arg     if="$(arg use_zed)" name="input_camera_info"  default="/stereo_camera/left/camera_info"/>
  <arg unless="$(arg use_zed)" name="input_camera_info"  default="/d400/color/camera_info"/>

 <!-- RTAB=Map node -->
  <group ns="rtabmap">

    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
      <remap from="rgb/image"       to="/d400/color/image_raw"/>
      <remap from="depth/image"     to="/d400/aligned_depth_to_color/image_raw"/>
      <remap from="rgb/camera_info" to="/d400/color/camera_info"/>
      <remap from="rgbd_image"      to="rgbd_image"/> <!-- output -->

      <!-- Should be true for not synchronized camera topics
          (e.g., false for kinectv2, zed, realsense, true for xtion, kinect360)-->
      <param name="approx_sync"       value="false"/>
    </node>

    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">

      <param name="database_path"       type="string" value="$(arg database_path)"/>
      <param name="frame_id"            type="string" value="t265_pose_frame"/>
      <param name="subscribe_depth"     type="bool"   value="false"/>
      <param name="subscribe_rgbd"      type="bool"   value="true"/>
      <param name="subscribe_scan"      type="bool"   value="false"/>

      <!-- Input topics -->
      <remap from="scan"                to="$(arg input_scan)"/>
      <remap from="odom"                to="$(arg input_odom)"/>
      <remap from="rgb/image"           to="$(arg input_image)"/>
      <remap from="depth/image"         to="$(arg input_depth)"/>
      <remap from="rgb/camera_info"     to="$(arg input_camera_info)"/>
      <remap from="rgbd_image"          to="rgbd_image"/>

      <!-- Output topics -->
      <remap from="grid_map" to="/map"/>

      <param name ...