Re: Database Post Processing - Save refined links

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Database-Post-Processing-Save-refined-links-tp6504p6510.html

Hi Davide,

The behavior should be as you expect, keeping the changes when re-opening the database. Which rtabmap version are you using?

When rtabmap initialize, we load the last optimized graph saved from the last mapping session. In SLAM mode, it is likely that graph will get re-optimized with the new constraints. In localization, it is used "as is". However, those saved optimized poses should be cleared (forcing a re-optimization) when we save refined links with DatabaseViewer.

I re-tested and the changes appear in the next session when when reloading the database in DatabaseViewer. Do you have a database to share to reproduce the problem?

cheers,
Mathieu