Posted by
matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Some-problems-about-version-committed-on-Dec-23-tp977p982.html
Hi Yanming,
Happy New Year too!
1. This is a bug. Fixed in this
commit.
2. The only difference is on this
line (in OpenCV github, refer to this
line):
Original:
- cv::Point2f delta( (float)((A12*b2 - A22*b1) * D), (float)((A12*b1 - A11*b2) * D));
Modification: delta on x-axis only, search on horizontal epipolar lines as left and right images are rectified
+ cv::Point2f delta( (float)((A12*b2 - A22*b1) * D), 0);
3. The 0.11 branch is a work-on-progress branch. Depending if I am updating the standalone or ros package, the branch may differ between standalone and ros. I will update the rtabmap_ros 0.11 branch soon. Normally, the
master branch (default) should always match between the rtabmap library and rtabmap_ros.
4. In 0.11, all parameters about visual registration are now shared between odometry and loop closure constraint computation. In the code, they are under group
"Vis/". In Preferences dialog, they are under RTAB-Map Settings (Advanced)->Motion Estimation->Visual Registration panel. This avoids duplicating parameters that should remain the same for consistency (odometry constraints are computed the same way as loop closure constraints).
5. You can go in Preferences->General Settings (GUI)->3D Rendering and click "Restore Defaults" at the bottom of the panel. If this doesn't help, make sure that rtabmapviz is receiving the rtabmap/mapData topic (at least the "Loop closure detection" view must show something if the topic is received).
6. There are two approaches to do that.
a. In the
loop closure detection papers, I used the log mechanism (see Preferences->RTAB-Map Settings (Advanced)->Log statistics). This will create LogI.txt and LogF.txt (LogF.txt contains some timing statistics). You can open them using the
showLogs.m script in MATLAB (Octave may work too). Example on
Benchmark tutorial.
b. Look at the
Plot statistics tutorial to view statistics live with the rtabmap interface.
cheers,
Mathieu