Matching during reprocessing

Posted by Pierre on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Matching-during-reprocessing-tp11148.html

Hi Mathieu,

I've recently tried using Superglue when reprocessing a database. When Superglue is used, we can see it on the log, as a message says that the weights have been loaded. I was surprised to see that this "loading message" did not appear so often during the reprocessing: only a couple of times, although many loops have been closed (Loop or Proximity Loop on the log). Hence I was wondering, what am I missing ? On the other hand, when I use the detectMoreLoops tool, Superglue is indeed loaded every time (by the way I was wondering if there was a way to load the weights once and for all, as detectMoreLoops is unbelievably long with Superglue on, knowing that I have databases with close to 100k nodes).

Is this in link with the Kp/NNStrategy parameter ? I don't know how it is used but it suggests that some matching can be done without Superglue.

My parameters are (among others) the following:

Kp/DetectorStrategy 11
Vis/FeatureType 11
Vis/CorNNType 6

I thank you a lot for you help
Best
Pierre