Re: rtabmap does not find loop closures

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-does-not-find-loop-closures-tp6586p6611.html

Hi Mathiu.


Thank you for your answer.

 

matlabbe wrote

To use GTSAM, only RGBD/OptimizeStrategy = 2 is needed. RGBD/OptimizeStrategy=1 means g2o, and RGBD/OptimizeStrategy=0 means TORO. If rtabmap is not built with GTSAM support, RGBD/OptimizeStrategy will be set to 1 by default and the option will be grayed out in the GUI. If you set it to 2 with rosparam, you would have a warning in the terminal saying that you cannot use GTSAM (rtabmap not built with it), so g2o is used instead.

Parameters RGBD/OptimizeMaxError and Optimizer/Robust are mutually exclusive for loop closure rejection, and they can work with g2o and gtsam. Only Optimizer/Robust won't work with TORO.

When I write $rosparam list I do not see RGBD/OptimizeStrategy however I can see Optimizer/Strategy.

Then when I write $rosrun rtabmap_ros rtabmap --params | grep Optimizer/Strategy I get: [Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.]


When I set $rosparam set /zed/rtabmap/Optimizer/Strategy 2 I do not get any error then when I write:

rosparam get /zed/rtabmap/Optimizer/Strategy
'2'

Then in the GUI the option GTSAM is  grayed out.

I am confused now :)


I am looking forward to your replay :)