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-tp2643p2685.html

Hi Mathieu,

Thanks for your information that we could add loops manually by using Database viewer. I selected a dataset which has some drifts, and tried to add a loop closure manually. Here is a picture of the process.



I opened the dataset by using
rtabmap-databaseViewer 20170216044718-processed.db
Then choose the Constraints view, find the to image I would like to match, and click the "Add" in the lower right corner. Then, I was told that the software cannot find a transformation between these nodes.

Is there any instruction on how to add loop closures manually, to repair a database? Thanks in advance.

Here is the data (https://www.dropbox.com/s/c1un05hi5h3nrv6/20170216044718-processed.db?dl=0), and here is the config file config-10hz.ini I used to process the raw data and obtain the above database.

Cheers,
You Li