Re: Reproducing Multi-session Deployment

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reproducing-Multi-session-Deployment-tp578p2366.html

Hi,

This is an issue with GTSAM, sometimes it doesn't find a solution. The original experiment used TORO. I updated the config file multi_session1Hz.ini so that TORO is used (backward compatibility). Load this new config or change the graph optimization approach from GTSAM to TORO under Preferences->Graph Optimization.

cheers,
Mathieu