Once a map has been generated, is it possible to continue optimiznig it offline?

Posted by asabet on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Once-a-map-has-been-generated-is-it-possible-to-continue-optimiznig-it-offline-tp4853.html

Suppose I generate an initial map in rtabmap and then terminate the node, is it possible to run an optimizer over the map and then relaunch rtabmap to navigate within it? If so, how could I go about implementing this?