Re: White dotted line graph view
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/White-dotted-line-graph-view-tp3250p3298.html
Hi,
Which rtabmap version do you have? For your setup, you may want to get latest rtabmap code from master branch. There is a new parameter called "Grid/ProjRayTracing" (default true) that will automatically fill empty space in your map without having the camera seeing the ground.
Example:
$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Odom/AlignWithGround true"
For a description of rtabmap's SLAM back-end, see Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM
or for loop closure detection: Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation.
See this post: http://official-rtab-map-forum.206.s1.nabble.com/Threads-in-RTAB-Map-td790.html for a list of threads running in parallel as well as a link to Rtabmap::process() method (which is the main loop of rtabmap back-end). On ROS side, see CoreWrapper.cpp (rtabmap node), which is a wrapper of the Rtabmap class to feed it topics coming from ROS.
You can also see this simple c++ example with processing in sequence: https://github.com/introlab/rtabmap/blob/master/examples/NoEventsExample/main.cpp
cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/White-dotted-line-graph-view-tp3250p3298.html
Hi,
Which rtabmap version do you have? For your setup, you may want to get latest rtabmap code from master branch. There is a new parameter called "Grid/ProjRayTracing" (default true) that will automatically fill empty space in your map without having the camera seeing the ground.
Example:
$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Odom/AlignWithGround true"
For a description of rtabmap's SLAM back-end, see Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM
or for loop closure detection: Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation.
See this post: http://official-rtab-map-forum.206.s1.nabble.com/Threads-in-RTAB-Map-td790.html for a list of threads running in parallel as well as a link to Rtabmap::process() method (which is the main loop of rtabmap back-end). On ROS side, see CoreWrapper.cpp (rtabmap node), which is a wrapper of the Rtabmap class to feed it topics coming from ROS.
You can also see this simple c++ example with processing in sequence: https://github.com/introlab/rtabmap/blob/master/examples/NoEventsExample/main.cpp
cheers,
Mathieu
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