[Feature request] Additional post-processing of the serialized posegraph tools

[imstevenpmwyca]

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]

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.