rtabmap: distance for updating

asked 2019-11-12 07:46:17 -0600

june2473 gravatar image

I have wheeled robot and running rtabmap with using only camera.

Robot was exploring one part of the room(tables, furniture, etc.) and then moved to another side of this room and turned back without moving, just looking towards already known environment.

So, here is the problem. Rtabmap started updating of already known part of the room and 2d map become worse, teared into pieces. Which parameter should I change to reduce distance of interest? I dont want to spoil already built part of the map.

Moreover, rtabmap contains a lot of poor described parameters. Is there any something like handbook for such kind of problems?

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Comments

Not sure to understand perfectly the problem, but parameter Grid/RangeMax could be decreased (default 5 meters). All occupancy grid related parameters can be shown with rtabmap --params | grep Grid/.

matlabbe gravatar imagematlabbe ( 2019-11-16 21:36:55 -0600 )edit

I tried changing Grid/RangeMax to 1.5, 2.5, and 5.0. Looks like nothing actually changed, map of the opposite side of the room is still building

june2473 gravatar imagejune2473 ( 2019-11-18 04:51:53 -0600 )edit

You may be referred to clouds created for visualization. In RVIZ MapCloud display, there is a Max depth parameter. In rtabmapviz, a similar parameter is in Preferences->3D Rendering panel under Map column.

matlabbe gravatar imagematlabbe ( 2019-11-18 18:37:00 -0600 )edit