Best way to fine-tune stereo_odometry node parameters for indoor environment?

[asabet]

I'd like to optimize rtabmap's stereo_odometry parameter settings for an indoor environment, how can I go about doing this efficiently? Which are the most important parameters to change?

[matlabbe]

Hi,

I think the best way would be to record stereo images in a database without doing mapping, then use RTAB-Map standalone interface with this database as source to change live the stereo parameters. You can use data_recorder.launch to record such database:

$ roslaunch rtabmap_ros data_recorder.launch subscribe_depth:=false subscribe_stereo:=true

On ctrl-c the database is saved to ~/.ros/output.db

In RTAB-Map -> Preferences -> Source, select database source and set the path at the bottom:


Parameters used by stereo odometry are under Odometry (you can press "Test odometry" button to just test odometry) and Visual Registration panels:



EDIT: To know how the parameters are called in ROS to set them to stereo_odometry node, mouse over the parameter like this:


cheers,
Mathieu