Re: Info on some parameters

Posted by manuel.lo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Info-on-some-parameters-tp4568p4591.html

Hi Mathieu.

Thanks a lot for your answers.

I'm proceeding in studying RTAB-Map parameters and, now, can you, please, explain the meaning of the following parameters:

In RTAB-Map Settings - RGB-D SLAM - Proximity Detection:
1) When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph - Parameter RGBD/ProximityPathRawPosesUsed
2) Save scan matching IDs in link's user data - Paramerer RGBD/ScanMatchingIdsSavedInLinks

In RTAB-Map Settings - RGB-D SLAM - Local Occupancy Grid:
3) Footprint filtering length (0=disabled) - Parameter Grid/FootprintLength
4) Footprint filtering width (0=disabled). Footprint length should be set - Parameter Grid/FootprintWidth
5) Footprint filtering height (0=disabled). Footprint length and width should be set - Parameter Grid/FootprintHeight
in Normals Segmentation Approach:
6) Flat obstacles detected - Parameter Grid/FlatObstacleDetected - In addition to the explanation of the parameter, are the obstacles flat because they are detected in 3D?

In RTAB-Map Settings - Motion Estimation - Visual Registration:
7) Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms) - Parameter Vis/ForwardEstOnly
8) Refine transformation with bundle adjustment. See Optimizer panel - Parameter Vis/BundleAdjustment

In RTAB-Map Settings - Motion Estimation:
9) Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners - Parameter Vis/CorGuessMatchToProjection

If you need more clarifications, I'm here.

Thanks to those who can help me.

           Manuel