Re: Problem with g2o and GTSAM in localization mode

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problem-with-g2o-and-GTSAM-in-localization-mode-tp884p897.html

Hi Guido,

g2o and GTSAM sometimes don't return a solution. I'll check how to handle these cases (I opened an issue).

In the mean time, in localization mode, optimization occurs only if there are nodes retrieved/transferred between LTM and WM. You could initialize the map with all nodes in WM and disable memory management (if it was enabled), so that optimization will be done only one time at the loading and there will be no optimization on localization:

In your localization launch file:
<param name="Mem/IncrementalMemory" type="string" value="false"/>  <!-- Localization mode -->
<param name="Mem/InitWMWithAllNodes" type="string" value="true"/>  <!-- Load all nodes in WM -->
<param name="Rtabmap/TimeThr" type="string" value="0"/>            <!-- Disable memory management -->

cheers