I need to generate the map using set of images and test the loop close with different set of images.
can we use rtabmap-console
IDOL provided different set of image for the same area (sun light & night).
The ground truth files must be created manually. You can use Gimp/MsPaint to create a matrix of the ground truth. Black pixels are no loop closures and white pixels are loop closures.
To help creating the ground truth, you can use the rtabmap-console to generate a first draft "ground truth" using the "-createGT" argument. You should manually verify that white pixels are correct and add a margin around the loop closures detected. You may need to add white pixels on loop closures not found.