What is the impact of changing the core parameters in rtabmap-databaseViewer

I want to refine the tracking in rtabmap and I have trouble to understand which parameters are active and make an impact on the slam process.

After I process a dataset with rtabmap, I can open the database with rtabmap-databaseViewer, which shows the images with the features.

There is an option to view the core parameters, e.g. (BRIEF, BRISK, SIFT, SURF, ...) and to edit them.

What is the impact of changing the core parameters? Can I reprocess the data to see the effect of changing e.g. the core parameter Vis/CorType?

Thanks, Avner

Asked by Avner on 2019-02-07 17:26:20 UTC

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Answers

In rtabmap-databaseViewer, changing Core parameters will affect only the processing functions of the viewer (like refining the links, adding new loop closures or how the map is optimized).

The database contains only data from the map, so if we replay the database with different parameters (see step 5 of this tutorial), they will only affect the mapping step, not odometry.

If you want to re-run odometry with different parameters with the same data, you will have to record data at higher frame rate. To do so, record a rosbag or use data_recorder.launch on ROS (remap image topics if needed) or Tools->Data Recorder... on standalone rtabmap. If a database is recorded, it can be replayed in rtabmap standalone like in the tutorial linked above (in step 5, say No when asking to use odometry from database so that odometry will be recomputed using parameters in Preferences->Visual Registration and Odometry panels).

cheers,
Mathieu

Asked by matlabbe on 2019-02-10 16:35:09 UTC