Re: Distortion in overlaps of database on RTAB-Map for iOS

Posted by matlabbe on Dec 06, 2021; 1:54am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Distortion-in-overlaps-of-database-on-RTAB-Map-for-iOS-tp8745p8754.html

It is difficult to see, but ideally would be to detect loop closures when coming back.

To export only one part of the map, you can open Visibility panel in rtabmap, then uncheck clouds you don't want to export.

Another way is to open the database with rtabmap-databaseViewer, open Constraints View, scroll Neighbor links to last or first node you want to start assembling the clouds, then click on Reject button to split the graph. After that, in GraphView, you can set the root id to one node you want to include, then the graph will be optimized from there. When viewing or exporting the clouds, only nodes in the graph shown in Graph View will be exported.

cheers,
Mathieu