Re: Graph Optimization in Localization Mode

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Graph-Optimization-in-Localization-Mode-tp745p746.html

Yes, I changed the localization behavior on loop closure detection to make it exactly like in mapping mode (so re-optimizing the graph). This fixed a localization jump bug when the memory management was activated and both approaches re-used the same code. When some nodes are retrieved from the Long-Term Memory to the Working Memory, the more convenient way to add them back in the optimized graph is to re-optimize it.

However, as you pointed out, when the whole graph is already in Working Memory, re-optimizing it is useless. I updated the code to handle this case (this commit). In localization mdoe, it will then re-optimize only when some nodes are brought back to Working Memory (extending the current map).

Thx for the observation!

cheers,
Mathieu