I have been experimenting with the ZED Positional Tracking module and its area memory feature. And although the step to export the map is quite clear, I am interested in knowing when the mapping is done sufficiently. That is, how do I know that the map I am about to export is sufficiently mature or I need to do more mapping? Is there also a way to incrementally build upon previous maps by loading them, doing positional tracking and exporting?
Also, just curious - in the class sl::Pose, there are twist attributes which never seem to be populated with values and always return 0s - is there some catch in order to activate them? I am able to get Pose readings just fine.
It’s not possible to obtain this information. The ZED SDK cannot be aware of the exact dimensions and complexity of an environment. It’s up to you to know when you have completely explored the environment.
When you start a new instance of the Positional Tracking module, loading an existing area memory file, the SDK internally updates it with new information. If you save it before stopping the processing, you will receive an updated file with any new information available.
For this reason, it’s also important to navigate an area with different light conditions to obtain a reliable area memory database.
Velocity is available only by using specific algorithms. What mode are you using?