Re: TimeThr

Posted by cjsurjadi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/TimeThr-tp9908p9940.html

Hi Mathieu,

Thanks for the clarification! I tried mapping out a larger area and found the LTM/WM working to improve the online SLAM performance. I found from this forum that RGBD/OptimizeFromGraphEnd should be set to true while using LTM/WM for SLAM, but in localization mode RTAB-Map is able to handle online large maps without memory management. I tried out creating a map with memory management. However, when I try to run RTAB-Map in localization mode with this map  without the memory management by setting Rtabmap/TimeThr='0' and RGBD/OptimizeFromGraphEnd='false', the database switches it back to the setting I was using while mapping, which is to use TimeThr=700 and OptimizeFromGraphEnd='true'. Is there a way for me to use the new localization parameters while using the database that used memory management?
Furthermore, is there a way for me to save the statistics of the localization mode (e.g.: processing mode and MapToBase_lin_std in the database or somewhere else so I can do post-analysis on the localization performance?

Thank you so much for your help!