Re: Save post-processed database

Posted by alex_mk on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Save-post-processed-database-tp2334p7222.html

Dear Mathieu,

I am also having some trouble to understand post processing so I would be glad if you could provide some directions.

1) when I try to correct the path by loop closing using the database viewer, I do Edit->Update all neighbor covariance->0.05[m]/5.0[deg]
The newly processed map can’t be loaded by the robot. But by using database recovery it can be loaded. Are we doing something wrong here?

2) I am also using the command line to add more loop closures by executing “rtabmap-detectMoreLoopClosures”. The output map can be loaded by our robot. However, by adding loop closures with the database viewer, the map can’t be loaded. What would be cause? Is there any difference between using the command line or database viewer?

3) I want to ignore previously saved locations in the launch, so I want to set RGBD/SavedLocalizationIgnored to true. When I set directly in rtabmap and save, the database cant be loaded by the robot. According to your answer, we can only save parameters with the database viewer, so I assume we are doing something wrong. However, even by setting this parameter in a launch file, the database still can’t be loaded by the robot. Are we missing something here?
By the way, this parameter is not available in the database viewer, so should I assume that all variables not available should be set by a launch file?

4) Another parameter is VisMinInliers. I assume it changes both mapping and localization mode. But supposing that I want to change this parameter in localization mode, what is the best way to do that? By databaseviewer or launch file?

5) As you may have noticed, I am having trouble to understand when and where we can set the parameters. Is there any documentation about it?
For example, imagine I have a database but want to use the images with a completely different feature extractor to create a new map. Is it possible? How to do that?

sorry for the many questions,
best regards