Re: iOS best practices for only tracking long recordings

Posted by matlabbe on Mar 16, 2025; 12:39am
URL: http://official-rtab-map-forum.206.s1.nabble.com/iOS-best-practices-for-only-tracking-long-recordings-tp10300p10998.html


If you are reprocessing databases taken in Data Recording mode, use "-default" option to reprocess with RTAB-Map's default mapping parameters instead of the ones from the recorded database (tuned for recording).

rtabmap-reprocess -default recorded_data.db output.db

I updated my answer here with "-default" explicitly set, though I think the original answer was correctly setting back some parameters to defaults that were changed for recording mode.

"Optimal" for loop closure detection is to use SURF or SIFT features. If you have rtabmap built with these features, you coudl do something like I commented in this post (here using SIFT):

rtabmap-reprocess -default \
    --Mem/UseOdomFeatures false \
    --Kp/DetectorStrategy 1 \
    --Vis/FeatureType 1 \
    --Vis/CorNNDR 0.6 \
    --Kp/NndrRatio 0.6 \
    recorded_data.db output.db

cheers,
Mathieu