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Updated Multi session (markdown)

matlabbe
2014-11-23 16:34:20 -08:00
parent f69a301fa5
commit de16d8b135
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Multi-session.md
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@@ -1,6 +1,6 @@
We will process consecutively five input databases that contain data taken from a robot during five mapping sessions. Databases at 1 Hz (smaller size) and 10 Hz (high feedback) are provided of the same experiments with the respective RTAB-Map settings files. The databases were created from the ROS bags on [ROS](https://code.google.com/p/rtabmap/wiki/ROS#Multi-session_mapping) page by using [data_recorder](https://code.google.com/p/rtabmap/wiki/ROS#data_recorder) node. We will process consecutively five input databases that contain data taken from a robot during five mapping sessions. Databases at 1 Hz (smaller size) and 10 Hz (high feedback) are provided of the same experiments with the respective RTAB-Map settings files. The databases were created from the ROS bags on [ROS](https://code.google.com/p/rtabmap/wiki/ROS#Multi-session_mapping) page by using [data_recorder](https://code.google.com/p/rtabmap/wiki/ROS#data_recorder) node.
[[https://raw.githubusercontent.com/introlab/rtabmap/doc/Tutorials/MultiSession/3.png]] [[doc/Tutorials/MultiSession/3.png]]
<img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/4.png" alt="AZIMUT3" width="400"> <img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/4.png" alt="AZIMUT3" width="400">
@@ -36,7 +36,7 @@ There two differences between the two ini files:
## Set database source ## Set database source
While in the Preferences dialog, select "Source" on the left. Scroll down, check "Database source" and select the first database downloaded (map1_1Hz.db or map1_10Hz.db). Odometry was saved in databases so leave uncheck "Ignore odometry". Now scroll up to "Input rate". Set 1 Hz if you downloaded the 1 Hz databases or 10 Hz if you downloaded the 10 Hz databases. Press "Ok" to close the dialog. While in the Preferences dialog, select "Source" on the left. Scroll down, check "Database source" and select the first database downloaded (map1_1Hz.db or map1_10Hz.db). Odometry was saved in databases so leave uncheck "Ignore odometry". Now scroll up to "Input rate". Set 1 Hz if you downloaded the 1 Hz databases or 10 Hz if you downloaded the 10 Hz databases. Press "Ok" to close the dialog.
[[https://raw.githubusercontent.com/introlab/rtabmap/doc/Tutorials/MultiSession/1.png]] [[doc/Tutorials/MultiSession/1.png]]
## Clean output database and initialization ## Clean output database and initialization
* Just to make sure to start with an empty database, do Edit -> "Delete memory" and then press "yes". * Just to make sure to start with an empty database, do Edit -> "Delete memory" and then press "yes".