Re: Update the database file with Sparse Bundle Adjustment (SBA) Post-Processing

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Update-the-database-file-with-Sparse-Bundle-Adjustment-SBA-Post-Processing-tp6882p6887.html

It is not possible to save optimized poses from SBA back in the database. That option was originally added only for this export example.

Well, after post-processing, we could ask the user if he wants to save back those optimized poses in the database. If so, saveOptimizedPoses of the DBDriver could be called. Next time rtabmap is initialized, it will use those poses (unless the graph has to be re-optimized in SLAM mode or if memory management is enabled).

However, poses of 3D features cannot be updated as easily.

cheers,
Mathieu