How to know the saved area memory is sufficient enough for relocalization?

Hi, we recently drove a robot equipped with a ZED2i camera inside an indoor area with complex lighting conditions (reflection of light on the floor, sunlight direction change,…) and repetitive texture, then saved an area memory for it. When we run the position tracking module with enabled area memory at the same start position, the pose tracking works well. However, the camera keeps searching for a known position and fails to find one when we start the robot randomly at some part of the given area memory. How can we know which part of the area may not be included in the area file when we drive the robot around? What are the possibilities that cause the missing area problem?

Thank you.

did you monitor the TACKING_STATE during the recording of the area file? The area file can only be generated if the positional tracking is not lost.