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SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
GNU Lesser General Public License v2.1
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[Feature request] Additional post-processing of the serialized posegraph tools #329

Open imstevenpmwyca opened 3 years ago

imstevenpmwyca commented 3 years ago

Feature request

Is there any post-processing tool that can make use of the posegraph file and the bag file to optimize further the map?

Implementation considerations

Maybe we can use the posegraph file + the bag in an offline post-process to get a better pgm file or posegraph. A clear drift could happen by the end of the algorithm for example. But I think it could be fixed by exploiting further the data running an offline optimization.

SteveMacenski commented 3 years ago

Is there any post-processing tool that can make use of the posegraph file and the bag file to optimize further the map?

I don't supply one in this project, no. I've made other pose-processing tools for other purposes, but none are open-source and none are in my control to be able to open-source at this point. This could be an area of contribution though - take a posegraph / data file, and rerun a more intensive offline optimization to further refine.