Re: Open the existing database and continuously scan the room.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Open-the-existing-database-and-continuously-scan-the-room-tp2485p2492.html

Hi,

g2o and TORO optimizations manage poorly (very poorly sometimes like in your second screenshot) multi-session maps. I've found GTSAM working pretty well most of the time (correctly assemble the maps together). Unfortunately, GTSAM is not available in the Windows binaries yet (I'm still struggling with GTSAM compilation issues on Windows 10/Visual studio 2015).

What you can try however is to change the solver/optimizer approach used by g2o to see if another one would give better results. Go in Preferences (Advanced)->Optimizer, and try different combinations of g2o's solver and optimization algorithm. The optimization error parameter can be set to 0 too. Under Graph Optimization panel, you can change the optimization approach between TORO and g2o too. Just change the parameters and click on Edit->Download graph only (optimized) in the main window to re-optimize the map.

Well, this could be caused by a wrong loop closure too. You may do Tool->Edit Database..., open Constraints and Graph views (see View menu) and browse the loop closures in Constraints View. If one is bad, you can reject it (when you close the dialog you will be asked to save the changes to database).

cheers,
Mathieu