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

Posted by matlabbe 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-tp4853p4863.html

Hi, what kind of optimizer do you refer? You can change the Optimizer/Strategy parameter to choose between TORO, g2o and GTSAM optimization approaches. You can also change their parameters, see "rtabmap --params | grep g2o" for example. To use another graph optimizer, it would be more complicated.

rtabmap can be relaunched in localization mode. See section 3.1 on this page: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping#Advanced

cheers,
Mathieu