Re: 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-tp6504p6522.html

Hi Mathieu,
thank you for working on this issue!

I tried with GTSAM and the graph did not change indeed.

Quoting you:

"But why it doesn't re-optimize exactly the same on reload is still an open question"

My question is why we would want to re-optimize the graph everytime we reload it if we want to just use the database for localization?


PUSH rtabmap-databaseViewer CORE PARAMETERS INTO SAVED CHANGES

Do you think would be a good idea to let the user push the core parameters into the saved changes of the post-processed database?

I find indeed that even though I changed the Reg/Strategy and the Optimizer/Strategy to process the database, this parameters then are not pushed into it. So everytime I open it I find the original parameters.
I think that is why you found Reg/Strategy=0 even though I refined the links with  Reg/Strategy=1.

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Regarding your tips, thanks a lot for your advices!
For PM I'm actually using a lipointmatcher config YAML File where the ratio is set as you said. Would be nice though to have a place to share our filters configuration :).

Regarding the parameter Reg/Force3DoF, I agree on you but when I tried it I found particulary hard and unstable to not have a vertical (Z-Direction) drift, causing a noticeable graph divergence.

Thank you a lot for your dedication.

cheers,
Davide