Re: misalignment from tango multi session

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5097.html

Hi,

I fixed the problem with the artifacts, GTSAM is included, as well as SURF/SIFT. I tried your ini file with this version and I can process all databases. However, they don't automatically merge all together and when I try to reopen the database in rtabmap-databaseViewer, GTAM fails to optimize the map. I didn't try the new option I described in that post to avoid this, I'll test it tomorrow.

Note that on my computer, I cannot show the map (Preferences->3D Rendering, uncheck Map column) online as I don't have enough RAM (only 6GB on my windows computer). I should also disable the following setting in Preferences->General Settings (GUI):

-Insert new data received in the GUI cache. Used to show the loop closure image and the 3D Map.

The crash at the end is maybe related to a full memory (how much RAM do you have?). In the ini file, set also "RGBD\LoopClosureReextractFeatures" to false to increase speed of loop closure estimation (that parameter is deprecated, as in newer version descriptors are re-matched on loop closures).

cheers,
Mathieu