Does DB contain the VSLAM poses? #1109
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mattiasmar
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Hello,
Is it correct to say that the rtabmap.db file doesn't contain the poses of the optimized graph, but rather only the raw measurements; odometry pose, detected links (loop closures), extracted feature points, the videos etc.?
If true, how can I control what optimization is done when calling the rtabmap-report tool?
Is there a way to 'freeze' the optimization such that what I see during initial rtabmap mapping, is the map that will remain with me in all further processing (i.e. reporting, localization)?
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