Re: Save post-processed database

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Save-post-processed-database-tp2334p2407.html

Hi,

Just tried your databases. Did you manually reset odometry while mapping? When processing the database, there are a lot of "RtabmapThread.cpp:575::addData() Odometry is reset (identity pose or high variance >=9999 detected). Increment map id!" warnings. A new map is created each time, which makes the old maps disappear unless a loop closure is found when them. Clicking on "Download graph" would not make old maps reappear if they are not linked to last map by loop closures.

So if you didn't reset the odometry (or used Odom/ResetCountdown to automatically reset odometry when lost), there is maybe a bug in rgbd_odometry or rtabmap nodes that generates high variance in odometry links.

Well, to remove this "new map" effect in your already created databases, change all 9999 values in the database to 1, you will then have only one map per database:

sqlite3 East.db "update link set rot_variance=1, trans_variance=1 where rot_variance=9999;"

To process databases faster, you should uncheck "Use database stamps as input rate." in Source panel under Database section. The source Input rate at the top of the panel will be used instead, e.g., I used 4-5 Hz so that processing again the database is 4/5x faster than real-time (if the map was updated at 1 Hz). In RTAb-Map settings, make sure to set Detection rate to 0 and buffer size to 0 to process all frames in database.

cheers,
Mathieu