Re: RTAB-Map on Visual Studio 2012 and stereo mapping example

Posted by yanmingz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-on-Visual-Studio-2012-and-stereo-mapping-example-tp624p636.html

Hi,

Thanks for your reply.

I will try to comment those lines and check what will happen.

I found the AllInOne package here. http://unanancyowen.com/?p=1255&lang=en.

It has already taken me 1 week to install the program on Windows. Now I am thinking about if I should give up. I have installed the program on Ubuntu without any problem. But it is on desktop and can't be taken home. And my laptop is on Windows.

2 more questions:
1. Is it possible to debug your program frame by frame?
I am interested at stereo slam. Is it possible to postpone the input of next frame until I finished the debug of the current frame. This means when I follow the process step of the nth frame, the n+1th frame will not be sent to the program and when I stop the debugging of the nth frame, the n+1th frame will be input to the program.

2. Could you give some short description about the method you used in stereo odometry and map assembler? Some keywords for further googling are also very helpful.
Based on my understanding, with the input frames, you first do stereo odometry,  build the graph and optimize the graph when closure is detected, and then assemble the local map as a global map. (Correct me if I am wrong)
Your paper is mainly focused on closure detection, and you also give out reference paper for graph optimization. But I couldn't find any clues for stereo odometry and map assembler used in your program. Could you give some more information about them? It will be much easier to read code with those information.

I really appreciate your help

Best regards
Yanming