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Restart visual odometry

asked 2020-04-05 09:24:35 -0500

user1 gravatar image

Hello everybody. I have a question and I'm sorry if it sounds like a stupid question, but I haven't found an answer on my own. I use rtabmap to get visual odometry from Intel RealSense D435i video streaming. I have seen that the quality of the visual odometry drops to 0 after a quick turn. Is it possible to restart visual odometry from the estimated position at a later time using it as a new starting point?

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answered 2020-04-05 11:43:53 -0500

matlabbe gravatar image

Automatically, set Odom/ResetCountdown parameter to restart odometry from latest odometry pose:

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
    <param name="Odom/ResetCountdown" value="1">
    ...
</node>

In the code, this is done here.

Manually, you can call /rtabmap/reset_odom (reset to Identity origin) or /rtabmap/reset_odom_to_pose (reset to new odometry origin).

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Asked: 2020-04-05 09:24:35 -0500

Seen: 107 times

Last updated: Apr 05 '20