How to close loop-closure-detection function?

[yincanben]

Hi,matlabbe,

I want to test the performance of using  loop-closure-detection when I build a map , Can you tell me how to close loop-closure-detection function? Also, I want to output  every pose of the key frame, what should I do?

Thanks.

[matlabbe]

Hi,

If you want to test the performance of the loop closure detector, I suggest to save the RGB images of the map in a folder and to use "rtabmap-console" to process them. Some examples on the Benchmark page.

For convenience, you can extract RGB images from a rtabmap's database using "rtabmap-databaseViewer" application. Open a database, then click File->"Extract images...".

cheers,
Mathieu

[yincanben]

I want to disable loop-closure-detection to test our algorithm Whether the performance of odometry has improved, Can I disable the loop closure detector by seting parameters in launch file？

[matlabbe]

Yes, the best way is to disable features extraction in rtabmap, set parameter "Kp/WordsPerImage" to -1.

<param name="Kp/WordsPerImage" type="string" value="-1.0"/>

Another way, while keeping loop closure detection, is to download the "not optimized" graph from rtabmapviz when the process is paused: Edit->"Download graph only" -> "global not optimized" option.

cheers

[yincanben]

Also, I want to output every pose when I run rtabmap? What should I do?

[matlabbe]

You can subscribe to /rtabmap/odom topic:

$ rostopic echo /rtabmap/odom/pose/pose


Note that if you don't need the 3D map to evaluate the odometry, you don't have to use the rtabmap node. You can just record the odometry messages above.