Closed matlabbe closed 9 years ago
New features added in the past weeks make it possible to do that. Finding the good parameters is still needed but it works. From the default RTAB-Map's parameters:
Parameters tuning:
Another thing you can do is to use Localization mode with a copy of the database used for odometry, so the 3D map will be shown as the camera is tracked. Don't forget to set PnP for loop closure constraint estimation. Then open the database, download all clouds and start mapping. On loop closure, the 3D map should re-appear.
New approach for recent versions >= 0.11.12: http://official-rtab-map-forum.206.s1.nabble.com/Localize-in-a-pre-loaded-local-map-created-by-RGB-D-mapping-tp2383p2399.html
The goal is the create a 3D map with a Kinect, then use it with only a webcam to track the camera. Idea from this post: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-SLAM-and-then-RGB-Localization-td489.html