From a54a3a3992aa8a91dab8ba2e843cb2735959788f Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 5 Dec 2016 16:10:05 -0500 Subject: [PATCH] Updated Loop closure detection (markdown) --- Loop-closure-detection.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Loop-closure-detection.md b/Loop-closure-detection.md index 80c3b75..e4e5673 100644 --- a/Loop-closure-detection.md +++ b/Loop-closure-detection.md @@ -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]]