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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-on-Visual-Studio-2012-and-stereo-mapping-example-tp624p638.html

Hi,

Indeed, Ubuntu makes things a lot easier to build from source. Don't know if you checked it, but there are instructions here for how to build RTAB-Map from source with Visual Studio.

1. Debugging the whole process frame by frame can be difficult because the modules depend on time. For example, Camera would publish images at 30 Hz, Odometry process these images as fast as it can (maybe ~15H) and Map update is done at 1 Hz. You can set Logger level to debug to see what is going on and set Camera rate to 1 Hz for example. You can also do "shift click" on the pause button so the camera send only one frame.

Debugging without events could be also more easier. One way is to build a program without threads and events like this new C++ example.

2.
-The map assembler is simply done by creating a point cloud from data of each node of the graph, then their optimized pose are used to assemble them. Each time the graph is optimized again, the nodes may move so all point clouds are updated according to new poses.
-For visual odometry information, see this post and this post. Well, the new c++ example referred above may help to understand better too.

cheers