Re: Adding more loop detection in post-processing
Posted by You Li on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-more-loop-detection-in-post-processing-tp2643p2650.html
Thank you Mathieu! The post-processing works amazing good with the office data by changing the max graph optimization error to 0 in TORO. Yes, now I can see the green screens quite often with this setting, and the pose is similar to yours above. Similarly, an excellent loop detection and optimization at about ID = 1600.
I am pretty curious about how you could totally filter the roof, but can keep the walls at the same time? As you see, here is my solution, lots of ceiling points. If I set a small parameter for the "cloud filtering", the ceiling can be removed; however, the walls are missed as well.
Cheers,
You Li
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-more-loop-detection-in-post-processing-tp2643p2650.html
Thank you Mathieu! The post-processing works amazing good with the office data by changing the max graph optimization error to 0 in TORO. Yes, now I can see the green screens quite often with this setting, and the pose is similar to yours above. Similarly, an excellent loop detection and optimization at about ID = 1600.
I am pretty curious about how you could totally filter the roof, but can keep the walls at the same time? As you see, here is my solution, lots of ceiling points. If I set a small parameter for the "cloud filtering", the ceiling can be removed; however, the walls are missed as well.
Cheers,
You Li
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