what is correct setting for parameters of this dataset

[shabhu18]

hii,
I was working with the stereo bag (version a) file given by rtab map people.
http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorMapping
The pose output of the robot car coming out to be wired .(when i do ros echo one the poses topic vary a lot in z axis which shouldn't be case ).
Can u suggest some parameter change to make it work.

[taihup]

It is difficult to say... maybe you do not have enough features, or all your features are too far in the scene (in Z). You can try to extract more feature changing the Feature Detector parameters. Even, you can change de Feature Detector (Default: GFTT) for another one. Take care that each Feature Detector of OpenCV use different Parameters.

You aslo can get more matches increasing the parameter MatchingDistance (maybe 50 is OK) to triangulate more points and get more 3D-2D correspondence during tracking.

On the other hand, if the calibration of the camera is not so good, you can change the de EpipolarDistance parameter to 2, 4 up to 8. But I think that if you are working with a dataset you must not touch tihs value, keep it on 0.

Let me know if this help,

Best!

[shabhu18]

After playing around with parameters .Finally i got the correct setting . Thanks