Can different static dictionaries be applied on existing db file to evaluate them?

Posted by GiladB on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Can-different-static-dictionaries-be-applied-on-existing-db-file-to-evaluate-them-tp10117.html

Hi Mathieu,

In order to map and localize well in very large warehouses, one of the options we wanted to persue is using static dictionaries. Currently, I'm looking for a way to evaluate a dictionary without having to wait the entire rosbag playback to complete.

Is there currently a way to apply a static dictionary at postprocessing (maybe on the .db file?) and get some statistics about how it worked? I would be intrested to know how many loop closures were accepted/rejected, how the occupancy grid looks like as well as other metrics.

If this option doesn't currently exist, do you have a recommendation about how to tackle it?

Thanks,
Gilad