Re: How to set RTABMap parameter in C++ project?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-set-RTABMap-parameter-in-C-project-tp1175p1184.html

Hi,

The config file can be a good approach. If you want to use hard-coded parameters, you can use the Rtabmap::init(ParametersMap) version. You can look at the C++ loop closure detection tutorial. Example:

rtabmap::ParametersMap parameters;

// SIFT vocabulary
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "1"));
 
// ICP registration
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRegStrategy(), "1")); 

// g2o graph optimization
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerStrategy(), "1")); 

rtabmap.init(parameters);

You can see the list of parameters in Parameters.h for convenience.

cheers