Graph view in databaseviewer

[SiinaIng]

Hi @matlabbe!

When I change any core parameter in databaseviewer, it seems to do nothing to the graph. How do I update the changes to the graph view?

[matlabbe]

If it is a graph optimization related parameters, you can just click/unclick the checkbox next to the horizontal bar in Graph View (or the oher one labeled "Span to all maps"). This should force re-optimizing with current parameters.

[SiinaIng]

So only changing the optimizer parameters will yield any change to the graph? (I'm very new to this topic and using RTAB-map) Will changing ICP parameters have any result in the graph or the 3D model?

[matlabbe]

Changing any parameter under Core Parameters view won't trigger automatically an update of something. For example, if you change ICP parameters, they will be used when you do a "Refine" constraint (if Reg/Strategy is 1 or 2).

If you want to reprocess always everything after changing a parameter, the best is to use rtabmap-reprocess tool, which will then reprocess the whole database with your new parameters.

rtabmap-reprocess --help