Switching from incremental to fixed dictionary during mapping

[dnozik]

Hi ,
Is that possible to start mapping with _incrementalDictionary=true and at some point during mapping make  switch to _incrementalDictionary=false ? If yes please advise how to do it .
Maybe there is other way to limit dictionary size ?
Thanks.
Dima

[matlabbe]

This is the way I would do to create a fixed dictionary. Create a new mapping session, roaming around with incremental dictionary. Close the session. Create another mapping session with incremental set to false and set the dictionary path to previous created database.

See also https://github.com/introlab/rtabmap/issues/942#issuecomment-1345657263