Re: misalignment from tango multi session

Posted by sDeboffle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5079.html

Hi.
I update standelone version this morning with V17.7 and replay my test from friday.
I scanned a full train station in 4 scan and I have far better results with the V17.5.
I saw a lot of disable features in this new version. SURF visual word type is unusable for exemple as well as GTSAM graph optimization.

I replay tango DB with this config in 17.5
ReplayTango01.ini

database
https://we.tl/t-tu1RwCgEsm
https://we.tl/t-GjduYJo35H
https://we.tl/t-fMmfNyYV34
https://we.tl/t-tp5zduYGsJ

I know the scan condition was not optimal at all (3 first scan on morning, the other one on aftenoon, projected shadow, direct sunlight exposition) but the result was nearly perfect with V17.5,it was impressive.