i want to change Optimizer/Strategy and see the result and compare with each other?
1) how can i identfy what is the default one?
2) how can i change it? and then from where i can be sure that it is set to the one i mentioned?
3) from where i can see the result? is there any tool for comparing these optimiza strategies with each other?
The easiest and fastest way to compare Optimizer/Strategy is to open a database in databaseViewer, open Graph View and Core Parameters panels. In Core Parameters->Optimizer, change strategy to 0, 1 or 2, then uncheck/check the checkbox on right of the slider in Graph View to trigger an optimization with current approach used.
To see currently optimizer used by the robot, in rtabmapviz, you can open the Preferences->Graph Optimization and check the current optimizer used.