rtabmap-globalBundleAdjustment errors

Posted by agodlin on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-globalBundleAdjustment-errors-tp9509.html

Hi, i am trying to run rtabmap-globalBundleAdjustment on a map i have
i am running a clip on the map before and after and testing localization with a clip i have.
the localization perform much worse on the map after i run GBA on it.

i did notice in the logs a warning that appear that i dont have when i use original map.

Memory.cpp:902::update() The working memory is empty and the memory is not incremental (Mem/IncrementalMemory=False), no loop closure can be detected! Please set Mem/IncrementalMemory=true to increase the memory with new images or decrease the STM size (which is 1 including the new one added)

i am attaching the rtabmp log while localization is running, the log from GBA run and the original map.
hope you could help me to understand where the problem is.

https://drive.google.com/file/d/1sWB3FKgsDsNWB6gE0GApIrJcnMSM6Em_/view?usp=sharing