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Updated Loop closure detection (markdown)

matlabbe
2016-12-05 16:10:05 -05:00
parent 9741c6ce8d
commit a54a3a3992
1 changed files with 2 additions and 2 deletions
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Loop-closure-detection.md
+2 -2
@@ -21,7 +21,7 @@ This simple example shows how to use RTAB-Map to process a data set.
[[doc/Tutorials/ProcessADataSet/dialog_delete_mem.png]]
* Setup parameters for appearance-based mapping only. Download this file [settingsAppearanceDemo.ini](https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/ProcessADataSet/settingsAppearanceDemo.ini), open Edit->Preferences->General settings, click on "Load settings" and select the file you have just downloaded. Here information about which parameters are modified from the default ones:
* Setup parameters for appearance-based mapping only. Download this file [settingsAppearanceDemo.ini](https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/ProcessADataSet/settingsAppearanceDemo.ini), open Edit->Preferences->General settings. Click on "Reset settings" to start from default parameters, then click on "Load settings" and select the file you have just downloaded. Here are information about which parameters are modified from the default ones:
* RGBD/Enabled = False (disable metric stuff)
* Rtabmap/ImageBufferSize = 0 (process all images)
* Rtabmap/DetectionRate = 0 (go as fast as the camera publishes images)
@@ -29,7 +29,7 @@ This simple example shows how to use RTAB-Map to process a data set.
* Mem/STMSize = 15
* Mem/RehearsalIdUpdatedToNewOne = true
* Mem/BadSignaturesIgnored = true (ignore images with little or no features)
* Setup the source of the camera. For this example, download this [sample data set](https://raw.githubusercontent.com/introlab/rtabmap/master/bin/data/samples.zip) and extract it anywhere. Menu Detection -> "Select Source" -> "Images ...". Select the directory containing images just extracted.
* Setup the source of the camera. For this example, download this [sample data set](https://raw.githubusercontent.com/introlab/rtabmap/master/bin/data/samples.zip) and extract it anywhere. Open menu Detection -> "Select Source" -> "More options..." (or Preferences->Source panel), then select "Source" -> "RGB". Scroll down to RGB section and select "Images" instead of "Usb camera", then select the directory containing images just extracted. Make sure the input source is not 0 Hz (otherwise the images will be processed very fast).
[[doc/Tutorials/ProcessADataSet/menu_source_images.png]]