Re: RTAB-Map GUI Save Database Problem

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-GUI-Save-Database-Problem-tp6077p6080.html

Hi Sean,

To use GTSAM, rtabmap should be rebuilt (see cmake status). Latest GTSAM >=4 should be also used.

Yes, you can set the parameters in the launch file like shown in the tutorial:

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap">
   <param name="RGBD/OptimizeStrategy" type="string" value="1"/> <!-- g2o=1, GTSAM=2 -->
   <param name="RGBD/OptimizeRobust" type="string" value="true"/>
   <param name="RGBD/OptimizeMaxError" type="string" value="0"/> <!-- should be 0 if RGBD/OptimizeRobust is true -->
   ...
</node>

What kind of improvements do you want to do on the point cloud map after optimization?

The occupancy grid should be similar between RTAB-Map and GMapping, can you show an example? If it is because of the range of the local occupancy grid, you can set Grid/RangeMax to 0 (default 5 meters).

cheers,
Mathieu