Some problems about version committed on Dec. 23

Posted by yanmingz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Some-problems-about-version-committed-on-Dec-23-tp977.html

Hi Mathieu,

Happy new year!

I have checked the version you committed on Dec. 23. And I have some problems.

1. In CameraStereoImages::init, the rectification function is disabled for initialization, but not enabled after initialization.

2. What is the difference between your implementation of util2d::calcOpticalFlowPyrLKStereo and cv:calcOpticalFlowPyrLK?

3. What is the version of rtabmap can work with the newest version of rtabmap_ros? I found the newest version of rtabmap_ros (committed on Dec. 18) does not support the API pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
                const cv::Mat & imageLeft,
                const cv::Mat & imageRight,
                const StereoCameraModel & model,
                int decimation).
It still uses the parameters of cx, cy, fx, fy and baseline.

4. It seems like many settings in Windows->preference work only for loop-closure detection. Is it a good idea to separate the setting UI into 2 parts, one for loop closure detection and optimization, the other for odometry.

5.Currently the rtabmap_ros on my desktop can only show the 3D dense map of current frame, not the whole 3D dense map. I guess some settings are changed by myself unintentionally but I can't changed it back. Could you tell me which setting I should change?

6. I want to profile your program. I mean I want to know how long it takes to excute a function. I find there is a class named as Statistics which record many that kind of information. but I can't find where do you output those information. Could you tell me how to utilize the class? Or where do you save those information when the program existed?

Thanks a lot and have a nice day.

Yanming