Re: Memory management in localization mode

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Memory-management-in-localization-mode-tp9886p9890.html

If you enable memory management (e.g., by setting Rtabmap/TimeThr or Rtabmap/MemoryThr), rtabmap should behave the same in localization vs mapping modes. When using memory management, it is also better to set "RGBD/OptimizeFromGraphEnd" to true:

rtabmap --params | grep GraphE
Param: RGBD/OptimizeFromGraphEnd = "false"                 [Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).]

This makes map and odom frames the same (on relocalization, the map is moved instead of the pose updated). Refer to this paper to see all the implications there are on navigation when memory management is enabled.

cheers,
Mathieu