Re: Matching during reprocessing

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Matching-during-reprocessing-tp11148p11179.html

Hi Pierre,

Thanks for the feedback. The GUI is not using exactly the same code than the CLI tool. I updated the GUI to avoid re-initializing SuperGlue all the time.

For the CLI, it is using more RAM because it actually reloads the whole map (all visual descriptors) before doing the detection, instead of loading descriptors "on-demand" when add/refining a link and clearing them from RAM afterwards. That is indeed not convenient when managing large databases. I created an issue about that.

cheers,
Mathieu