From 53bf5d472f4548b4c89cafe2152945c57ad8bae1 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 09:29:12 -0400 Subject: [PATCH 1/4] Updated Tutorials (markdown) --- Tutorials.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/Tutorials.md b/Tutorials.md index 7dc49ca..cb7c880 100644 --- a/Tutorials.md +++ b/Tutorials.md @@ -15,6 +15,10 @@ Tutorials of RTAB-Map. Installation instructions can be found [here](https://git Texture tutorial +### +* This example shows how to activate robust graph optimization. +Robust graph optimization + ### Change RTAB-Map's parameters * This example shows how to change most used RTAB-Map's parameters. Parameters From e928eecbaee7301cf3c61d81de4ada8dacacf7cc Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 09:29:26 -0400 Subject: [PATCH 2/4] Updated Tutorials (markdown) --- Tutorials.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tutorials.md b/Tutorials.md index cb7c880..89c7fcd 100644 --- a/Tutorials.md +++ b/Tutorials.md @@ -15,7 +15,7 @@ Tutorials of RTAB-Map. Installation instructions can be found [here](https://git Texture tutorial -### +### Robust Graph Optimization * This example shows how to activate robust graph optimization. Robust graph optimization From 163b9d5176c50ed31b3d3806606dad0f8c01a035 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 09:32:28 -0400 Subject: [PATCH 3/4] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index 8c4553f..c486b79 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -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): - + +[[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. \ No newline at end of file From 8995da701e6070b3438cdbdb0c550c70e0d34abe Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 4 Sep 2015 09:32:47 -0400 Subject: [PATCH 4/4] Updated Robust Graph Optimization (markdown) --- Robust-Graph-Optimization.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Robust-Graph-Optimization.md b/Robust-Graph-Optimization.md index c486b79..8d9bfce 100644 --- a/Robust-Graph-Optimization.md +++ b/Robust-Graph-Optimization.md @@ -39,6 +39,6 @@ The video above can be reproduced with this database: [robust_graph_optimization 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. +You should then see mapping like the introduction video. \ No newline at end of file