Database Post Processing - Save refined links

Posted by DavideR on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Database-Post-Processing-Save-refined-links-tp6504.html

Hi Mathieu,
I need to ask you about a strange not expected behavior post-processing a database.
I'll briefly describe my scenario:

1. Database creation without Link ICP refinement.
2. Open the created database with Database Viewer, change Reg strategy from 0 to 1
3. Refine all neighbour links with ICP Libpointmatcher (I then get a more likely posegraph layout)
4. Close the database saving the changes of the refined links

subsequently to these steps, when i open the database again or when I load it for localization mode in ROS, the graph layout is different from the time I saved it.

I expected somehow that when I saved it at 4. , the graph wouldn't change anymore neither optimized.

Am I doing something wrong?

Thank you for the support

Cheers

Davide