search

introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
Other
2.83k stars 787 forks source link

many nodes are not optimized (negative weight) after mapping #1240

Closed alexk1976 closed 8 months ago

alexk1976 commented 8 months ago

I just noticed that many nodes are not in the optimized graph after mapping (have negative weight) when most of the nodes are ok. Since we didnt use LTM/WM (TimeThr=0 and MemortTh = 0) i wondering why it happens and how to fix it. I tried to re-optimize using databaseViewer but it doesnt help.

matlabbe commented 8 months ago

These nodes are those ignored by RGBD/LinearUpdate and RGBD/AngularUpdate parameters. For example, if the robot is not moving (i.e. linear motion < RGBD/LinearUpdate), the node will be set with a negative weight and ignored from the WM / optimized pose graph. It is still saved in the database by default with Mem/NotLinkedNodesKept=true for debugging purpose.

If you want them in the WM or graph, set RGBD/LinearUpdate=0, or if you don't want to see them in the database, set Mem/NotLinkedNodesKept=false.