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Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 09:32:28 -04:00
parent e928eecbae
commit 163b9d5176
1 changed files with 10 additions and 6 deletions
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Robust-Graph-Optimization.md
+10 -6
@@ -12,7 +12,9 @@ Even if RTAB-Map has a [good](https://introlab.3it.usherbrooke.ca/mediawiki-intr
## Configuration
In the Preferences dialog under RGBD-SLAM panel and "Graph optimization" group, choose either g2o or GTSAM for the optimization algorithm, then click on "Robust graph optimization using Vertigo..." (default already checked):
<screenshot>
[[doc/Tutorials/RobustGraphOptimization/rgbdslam.png]]
### ROS
If you are using ROS, you can set the parameters of the rtabmap node like that in a launch file:
```xml
@@ -30,11 +32,13 @@ The video above can be reproduced with this database: [robust_graph_optimization
2. Open Preferences dialog.
3. Restore default settings (Preferences->General Settings->"Reset all settings").
4. Click on Source panel: set source from database, scroll down and select the database above and click on "Yes" to use odometry saved in database.
5. Click on RTAB-Map settings: set "Detection rate" to 0. The source database is already at 1 Hz, it is just to make sure that all images are processed.
5. Click on Advanced (bottom left) to show up the RGB-D SLAM panel, then click on it. Set the panel as in the screenshot of the previous section (with g2o or GTSAM).
6. Close the Preferences dialog.
7. Create a new database (File -> New database) and click "Start".
[[doc/Tutorials/RobustGraphOptimization/source.png]]
You should then see mapping like the video above.
5. Click on RTAB-Map settings: set "Detection rate" to 0. The source database is already at 1 Hz, it is just to make sure that all images are processed.
6. Click on Advanced (bottom left) to show up the RGB-D SLAM panel, then click on it. Set the panel as in the screenshot of the previous section (with g2o or GTSAM).
7. Close the Preferences dialog.
8. Create a new database (File -> New database) and click "Start".
You should then see mapping like the video above.
<screenshot>