Re: .db file format and trajectory (odometry) data from .db file

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/db-file-format-and-trajectory-odometry-data-from-db-file-tp2585p2654.html

In data recorder mode, loop closure detection is disabled, so you have to think when revisiting same areas to look exactly in the same orientation/position surfaces with discriminative visual features to make sure that when reprocessing offline the database RTAB-Map can actually find these loop closures for map correction.

For example, see in this video how I came back (1:55) to the billboard (a lot of visual features) to find the last loop closure before pausing.

cheers,
Mathieu