Manually adding/modifying node constraints

Posted by pakr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Manually-adding-modifying-node-constraints-tp6983.html

Hi Mathieu,

thank you for creating and publishing such a sophisticated SLAM framework.

I would like to merge multiple databases that do not contain overlapping areas but of which I know their relative poses.
Additionally, some of the mapped rooms are quite similar (sometimes only one different furniture item), so that I fear that many wrong loop closures may happen.
Manually removing all wrong loop closures after the first database generation does not appear to be feasible in my case.

a) Is there a way to set fixed known constraints in advance, before automatic loop closure?
I have thought about joining the databases as if they were recorded in a single session and manually adjusting odometry/pose constraints (e.g. adding offsets to a specific set of pose entries in the Node table), maybe also adding user/neighbor links (as mentioned in this topic) and then reprocessing the data set with "rtabmap-reprocess".
Can you give an example/hint regarding where to make the necessary edits?

b) Is there documentation for the database structure and contents?
I have not been able to find much information and there seem to have been changes, e.g. in this version there are entries for "rot_variance" and "trans_variance" but in the current version there is only a BLOB entry called "information_matrix".

Thank you very much in advance!

Cheers,
pakr