LabelPose

[dnozik]

Hi Mathieu,
I like to know what best way to get labels pose at the end of mapping?
I have 2 use cases 1.Working memory is unlimited 2. Limited Working memory.
Should I use rtabmap::optimizeCurrentMap to get all correct poses ?Is that possible that after optimizeCurrentMap  label will not exist ?

Thanks.
Br,
Dima.

[matlabbe]

From Rtabmap object, you may call rtabmap::getAllLabels() with rtabmap::getGraph() (with optimized and global set to true) to know their pose.

From ros services, you can call "list_labels" with "get_map_data" (with optimized, global and graphOnly set to true).

With rtabmap::optimizeCurrentMap() you would need to set lookInDatabase=true to get all poses (though not necessary if WM is not limited).

cheers,
Mathieu

[dnozik]

Hi  Mathieu,
Thanks you for reply,
Is there any chance that during map optimization some labels will be eliminated/lost or it guarantee that label once set it will continue exist even in different node  ?
Thanks ,
Br,
Dima

[matlabbe]

With memory management enabled, there is no guarantee. However, if you use the planning capability of rtabmap, you can ask to go to a label not anymore in WM and it will plan a path to go there in the graph, retrieving appropriate nodes along the way (mainly this paper).