Re: Map update stopped in between

Posted by alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-update-stopped-in-between-tp5234p5245.html

Hi Mathieu,

It was the problem of a bad dataset. I updated to the latest source and rebuild the package.

Everything working fine now.

Do you feel adding the following parameters will most likely improve the results ??

<param name ="Icp/PM" type="string" value="true"/>                       <!--Use libpointmatcher for ICP registration instead of PCL's implementation. -->             
          <param name ="Icp/PMConfig" type="string" value=""/>                      <!--Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., Icp/VoxelSize, Icp/DownsamplingStep), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters Icp/Iterations, Icp/Epsilon and Icp/MaxCorrespondenceDistance are also ignored if configuration file is set. -->
 	  <param name ="Icp/PMMatcherEpsilon" type="string" value="0.0"/>         <!-- [KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.]-->
          <param name ="Icp/PMMatcherKnn" type="string" value="1"/>               <!-- [KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.]-->
          <param name ="Icp/PMOutlierRatio" type="string" value="0.95"/>           <!-- [TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point cloud, use 0.65.]-->