Re: Map update (append)

Posted by GiladB on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-update-append-tp10397p10478.html

My goals are fixed matric poses. I tried to follow your suggestion of adding prior constraint in the form of very low covariance values, but I might have not done it correctly.
What I assumed I should do is in the "Link" table, update the major diagonal of the "information_matrix". the value I set there was 0.0001 which I thought is considered low. I did it to all the entries in table.
1) Is it what you meant?
2) After merging (using rtabmap-reprocess) the map with prior constraint to a new map, the merged map does not have the low values I set in the major diagonals anymore. Is it expected? Should've I used a different method to merge the maps?

Thanks,
Gilad