Best practice for validation and testing?

Posted by rakuwaku on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Best-practice-for-validation-and-testing-tp6905.html

Hi,

  I have completed simulation testing with sim sensors using Rtabmap. The next step is validation on real hardware with real cameras. Is there a best practice in the verification and tuning of rtabmap on hardware?

  I have SLAM running and everything runs OK on startup. I want to limit tests using hardware as much as possible so I'd like to gather all the real data collected and be able to rerun them in sim for fine tuning.

I'm using ROS. Does this mean I should just bag all the camera, and odometry sources? I would also have a copy of the rtabmap.db thats generated.

Is there anything else I'm missing?