Re: Manually adding/modifying node constraints
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Manually-adding-modifying-node-constraints-tp6983p6991.html
Well it was not possible before. I took some time to support adding manual constraints in this case in this commit (currently available only on devel branch). Here how it works after opening a database in rtabmap-databaseViewer:
1) Browse two frames of different sessions on which you want to add a constraint
2) In Constraints View panel, the Add button will be enabled if they are valid nodes, then click on Add
3) It will fail to find automatically the transform, you can now click on Yes on the error message to manually set the transform
4) This dialog will open:
5) Here I set approximately 90 degrees between the frames (the frames on left may switch to have the largest id on left)
6) Here another example showing the new constraint between the two sessions:
For your second question b), your first link is like 4 years ago :P. We keep now the information matrix (6x6 double) for each link. The actual documentation of the database is this schema. In some cases, editing directly the database can be convenient, but in most cases DatabaseViewer is enough to modify general stuff.
cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/Manually-adding-modifying-node-constraints-tp6983p6991.html
Well it was not possible before. I took some time to support adding manual constraints in this case in this commit (currently available only on devel branch). Here how it works after opening a database in rtabmap-databaseViewer:
1) Browse two frames of different sessions on which you want to add a constraint
2) In Constraints View panel, the Add button will be enabled if they are valid nodes, then click on Add
3) It will fail to find automatically the transform, you can now click on Yes on the error message to manually set the transform
4) This dialog will open:
5) Here I set approximately 90 degrees between the frames (the frames on left may switch to have the largest id on left)
6) Here another example showing the new constraint between the two sessions:
For your second question b), your first link is like 4 years ago :P. We keep now the information matrix (6x6 double) for each link. The actual documentation of the database is this schema. In some cases, editing directly the database can be convenient, but in most cases DatabaseViewer is enough to modify general stuff.
cheers,
Mathieu
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