Re: RTAB-Map and COLMAP

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-and-COLMAP-tp9344p10186.html

If IDs are matching between the new optimized poses and nodes in the database, the "simpliest" way would be to update opt_ids and opt_poses fields in the database directly. A python script with sqlite3 could be a way to implement this (this script can be used to compress and uncompress the opt_poses blob).

If the modified database is used in localization mode, it should keep the modified poses.

cheers,
Mathieu