Re: 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-tp10117p10127.html

Follow up question:
Is it possible to recreate a full, dynamic, dictionary using a rtabmap-reprocess?


I tried this:
rtabmap-reprocess --Mem/UseOdomFeatures false --Kp/IncrementalDictionary true rtabmap-small-static-dictionary.db re-extract.db

And called the dump method (rtabmap.dumpData()) from the reprocess code just before doing rtabmap.close(true).

Looks like the dictionary saved after the above reprocess command is exactly the same as the one that created the input db file (in previous reprocess run).


My motivation:
Creating a full dynamic dictionary while mapping a very big warehouse using a relatively weak machine is not possible due to RAM limitations.
I thought about creating a .db file of the whole warehouse with some static dictionary and then taking the .db file to a stronger server with lots of RAM, create a full dynamic dictionary and later decide what subset of the dictionary works best for me and push it back to the robot.