parametrs setting for using rtabmap with only kitti visual images

[Rohit]

hey matlabi

i am unable to generate map using kitti sequence images.. can u help me setting parameters for that..

[matlabbe]

What did you try? Did you use rtabmap-kitti_dataset tool?

[Rohit]

Thanks I tried these parameters too but most of the times odometery is failing ..I have my own dataset where I set the calibration parameters but and m not sure about the other vis and odom parameters..but most of the times screen goes red i.e it lost track of odometery

[matlabbe]

Can you share a sample of your dataset or the resulting database?

[Rohit]

Hi Matlabi..

So as of now I was able to run rtab map without using ros and it's plotting graph and 3d map .
But I am facing two problems :
As for larger datasets memory usage is high as it's storing things on ram and basically freezing the system...so is there any way to store things on my hard disk instead of ram.

To deal with this I tried multi session mapping dividing my dataset into parts but still after following the demo and tutorial I am unable to get global map as it's failing to merge the local maps ..

My dataset contains basical stereo images captured using zed in my college campus.

Thanks ✌️

[matlabbe]

Hi,

You can decimate the clouds shown in the 3D Map view (see Preferences->3D Rendering->Map Decimation), or even not showing them at all to save RAM on visualization.

cheers,
Mathieu

[Rohit]

So isn't there any way to store points in hard disk instead of ram ?
Also while multi session mapping I am unable to merge maps .I am simply following the demo of multi session mapping using .ini file provided there and give my .db files. At last when I download the global map it gives me the map of last session instead of merged global map.

[matlabbe]

Hi, all data are saved on disk (database file) after each update, even if you don't show the clouds in the UI. We can open the database afterward to generate the cloud (even if during mapping we didn't show anything to save RAM).

For multi-session, there should be loop closures between the sessions, otherwise they won't be merged showing only last session.

If no loop closures are found automatically, you can use rtabmap-databaseViewer to manually add some with Constraints view and selecting 2 locations from the main sliders.

Cheers,
Mathieu

[Rohit]

Hi Matlabbe,

Though the data i am providing have common images at the end but it does not detect loop closure automatically . As you told me to use rtabmap-databaseViewer which i tried but i am still not getting how to add it.Please suggest me some documentation or tutorial to do so.

Thank you

[matlabbe]

Hi,

Open the database in rtabmap-databaseViewer, then click on menu View->Constraints View. It will show a panel with "Add" button. With the two main sliders (not those in Constraints View), select two images representing the same place, then click "Add". If there are enough corresponding visual features between the images, it will add the new constraint. The registration parameters can be also changed for fine tuning if the loop closure has not enough correspondences. For example, you can open View->Core Parameters->Vis panel and decrease MinInliers parameter, then try "Add" again. If images are coming from different sessions, this will merge the two sessions. After being merged, you can do "Edit->Detect more loop closures" to do this automatically. Parameters about detecting more loop closures (number of iterations) can be modified in corresponding panel of "View->Gui parameters".

More info: http://official-rtab-map-forum.206.s1.nabble.com/Adding-more-loop-detection-in-post-processing-tp2643p2685.html

cheers,
Mathieu