LTM WM

[dnozik]

Hi ,
In may Parameters both TimeThr and MemoryThr are 0 , meaning WM is infinite,In that case  I think LTM is not in use?!
But when I use rtabmap-info on db file after mapping I see this info  !?
otal time:         4582.079898s
LTM:                4187 nodes and 3657874 words (dim=32 type=8U)
WM:                 2345 nodes and 3604708 words
Global graph:       4187 poses and 4926 links
Optimized graph:    2345 poses (x=4926->-65, y=7->-56, z=5->0)
When LTM is on and when it off ?
Thanks.

[matlabbe]

LTM will be always at least the same size than WM or bigger. The LTM may be bigger because not all nodes are kept in the optimized graph, like those ignored when the robot doesn't move.