changing parameter on rtabmap

[Jimmy Notron]

Hi every one
i was wandering if i can ask some question about changing parameter on rtabmap
i wanna change parameter on rtabmap base on instruction that exist in Github
im running rtabmap go to parameter in section of graph optimization
when i wanna change it from g2o to something else i see that the buttom is locked and i cant changing it

after that i go to rtabmap.launch launch file and searching for this settings but onfortunatly i cant find this setting on it

what should i do?

[matlabbe]

Hi,

To use g2o optimization, rtabmap should be built with it, otherwise the option in Preferences is disabled.

With rtabmap.launch, you can select g2o by doing this:

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--Optimizer/Strategy 1"

To find the corresponding parameter in ROS from the Preferences panel, you can mouse over the parameter box (spinbox, checkbox...) and a tooltip should appear with "Optimizer/Strategy" for example if you mouse over the combobox to select graph optimization strategy. Another way is to show parameters in terminal:

$ rosrun rtabmap_ros rtabmap --params | grep g2o
Param: Optimizer/Robust = "false"                          [Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). Not compatible with "RGBD/OptimizeMaxError" if enabled.]
Param: Optimizer/Strategy = "2"                            [Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.]
Param: g2o/Optimizer = "0"                                 [0=Levenberg 1=GaussNewton]
Param: g2o/PixelVariance = "1"                             [Pixel variance used for SBA.]
Param: g2o/Solver = "0"                                    [0=csparse 1=pcg 2=cholmod]

cheers