Official RTAB-Map Forum - Re: Can different static dictionaries be applied on existing db file to evaluate them?

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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Can-different-static-dictionaries-be-applied-on-existing-db-file-to-evaluate-them-tp10117p10123.html

Hi,

If you built a static dictionary following this, you may reprocess offline any databases with that dictionary with rtabmap-reprocess:

rtabmap-reprocess \
   --Kp/DictionaryPath ~/dictionary.db \
   --Kp/IncrementalDictionary false  \
   rtabmap.db output.db

Add "--Mem/UseOdomFeatures false" if you also want to re-extract features.

You can use rtabmap-info to show loop closures detected afterwards.

cheers,
Mathieu