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Updated Multi session (markdown)

matlabbe
2014-11-23 16:33:17 -08:00
parent d859f3d2d9
commit f69a301fa5
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Multi-session.md
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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)
[[https://raw.githubusercontent.com/introlab/rtabmap/doc/Tutorials/MultiSession/3.png]]
<img src="https://raw.githubusercontent.com/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">
## Downloads
### 1 Hz
@@ -11,7 +11,7 @@ We will process consecutively five input databases that contain data taken from
* [map3_1Hz.db.zip](https://drive.google.com/uc?id=0B46akLGdg-uacnotLXBPZzFzVlU)
* [map4_1Hz.db.zip](https://drive.google.com/uc?id=0B46akLGdg-uaZS0zZFBTR0MzX1U)
* [map5_1Hz.db.zip](https://docs.google.com/uc?id=0B46akLGdg-uaclNTRU1HeGsxQlU)
* [multi-session1Hz.ini](https://raw.githubusercontent.com/introlab/rtabmap/doc/Tutorials/MultiSession/multi-session1Hz.ini)
* [multi-session1Hz.ini](https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/multi-session1Hz.ini)
### 10 Hz
* [map1_10Hz.db.zip](https://drive.google.com/uc?id=0B46akLGdg-uaejU4OGZ0ZXVaZUk)
@@ -19,7 +19,7 @@ We will process consecutively five input databases that contain data taken from
* [map3_10Hz.db.zip](https://drive.google.com/uc?id=0B46akLGdg-uaQXNXVlRXMVJ6Q1k)
* [map4_10Hz.db.zip](https://drive.google.com/uc?id=0B46akLGdg-uaRTlBbE9vOHZWeUk)
* [map5_10Hz.db.zip](https://drive.google.com/uc?id=0B46akLGdg-uaRmdwcWc0SkNNSzg)
* [multi-session10Hz.ini](https://raw.githubusercontent.com/introlab/rtabmap/doc/Tutorials/MultiSession/multi-session10Hz.ini)
* [multi-session10Hz.ini](https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/multi-session10Hz.ini)
## Load settings
@@ -36,7 +36,7 @@ There two differences between the two ini files:
## 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.
![](https://raw.githubusercontent.com/introlab/rtabmap/doc/Tutorials/MultiSession/1.png)
[[https://raw.githubusercontent.com/introlab/rtabmap/doc/Tutorials/MultiSession/1.png]]
## Clean output database and initialization
* Just to make sure to start with an empty database, do Edit -> "Delete memory" and then press "yes".
@@ -47,16 +47,16 @@ While in the Preferences dialog, select "Source" on the left. Scroll down, check
* Press start! (or Edit->Start)
* When the mapping of the first map is done, the process should stop itself. Now process the second map. Select Detection->"Select source"->"Database...", and chose the second database (map2_1Hz.db or map2_10Hz.db). Redo this step after map 2 is finished, then for maps 3, 4 and 5. You should see something like this (note this video is not the actual first database):
[![video](https://raw.githubusercontent.com/introlab/rtabmap/doc/video_screenshots/demorobotmapping.jpeg)](http://www.youtube.com/watch?v=c0qrEd5rR7M)
[![[doc/video_screenshots/demorobotmapping.jpeg]]](http://www.youtube.com/watch?v=c0qrEd5rR7M)
## Show the global map and global graph
During the online mapping, only the local map and local graph can be visualized. After processing the data or when you do "Pause", you can request that the core generates the global graph for you. To show the global map and the global graph, select Edit->"Download graph only", then in the dialog, select "Global map optimized" (you can try the other options to see what happens).
![](https://raw.githubusercontent.com/introlab/rtabmap/doc/Tutorials/MultiSession/2.png)
[[doc/Tutorials/MultiSession/2.png]]
From RTAB-Map 0.7.1, you can press key "2" in the cloud view to show maps segmented with different colors.
![](https://raw.githubusercontent.com/introlab/rtabmap/doc/Tutorials/MultiSession/5.jpg)
[[doc/Tutorials/MultiSession/5.jpg]]
## Results
If you don't want to process all the data above and just see the results in RTAB-Map, two resulting output databases can be downloaded here:
@@ -69,6 +69,6 @@ If you don't want to process all the data above and just see the results in RTAB
Here a video comparing the two resulting databases (with and without online constraint):
[![video](https://raw.githubusercontent.com/introlab/rtabmap/doc/video_screenshots/demomultisession.jpeg)](http://www.youtube.com/watch?v=XrnyhaxPCro)
[![[doc/video_screenshots/demomultisession.jpeg]]](http://www.youtube.com/watch?v=XrnyhaxPCro)