rtabmap-export (Global Full vs Global iterative)

[mattiasmar]

Hello,
I've noticed that the tool "rtabmap-export --poses" generates poses corresponding to what is referred to as "Global Full" in the rtabmap-databaseViewer.

Can one instead have rtabmap-export generate poses corresponding to "Global iterative"? How?

[matlabbe]

Related to #1387

Yes, it is Global Full. I'll check if I can also add the iterative option in that PR: #1391

[mattiasmar]

During localization which graph is used: "Global iterative" or "Global full"?

[matlabbe]

Full. Both are iterative. There should not be a huge difference, but with "iterative", we do each iteration outside the optimization library to get intermediate results (that is the default one in rtabmap-databaseViewer, to give a slider to see state of the graph after each iteration). The "full" approach lets the optimizer doing all the iterations internally. I don't have a full comparison between these two approaches, but rtabmap will use "full" when mapping/localizing.

[mattiasmar]

Thanks.