Re: Best Practices for Quick Automatic Localization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Best-Practices-for-Quick-Automatic-Localization-tp6881p6915.html

Hi,

For your previous message, it is possible to see the landmarks in Graph View and in Constraints view of DatabaseViewer. Here two screenshots:



Landmarks are at the end of the green links. You can also see the number of landmarks in the map at the bottom of the view, here 33 landmark links were added to the map. You may not see the landmarks on your side, it is because your Optimizer/Strategy is 0 (TORO). Landmarks are added to graph only g2o or gtsam optimizers. Build rtabmap with g2o or gtsam support, then set Optimizer/Strategy to 1 or 2. Recently, I added new warnings for the case when landmarks are in the map but the optimizer is TORO.

This would be also the reason why localization is not working, as landmarks are not linked in he graph.

It is also possible to see the landmarks in 3D Map view of rtabmapviz when running:


They may be hard sometimes to see in 3D Map view, I generally prefer the Graph View with the green links.

cheers,
Mathieu