Re: Using rtabmap as backend to colorize points

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-rtabmap-as-backend-to-colorize-points-tp11165p11178.html

Yes, it is possible.

My answer would be similar to scenario one of this post:

# Values should be all "string" type 
'Kp/MaxFeatures': '-1',              # Disable visual loop closure detection
'RGBD/ProximityBySpace': 'false',    # Disable proximity detection
'RGBD/CreateOccupancyGrid': 'false', # Disable occupancy grid
'RGBD/LinearUpdate': '0.1',          # Adjust minimum motion to add new nodes to the map
'RGBD/AngularUpdate': '0.1',         # Adjust minimum motion to add new nodes to the map
'Rtabmap/DetectionRate': '1',        # Adjust at which rate new nodes are added to the map

Note that you could still use rtabmap-databaseViewer to add manually loop closures afterwards if you find that fastlio drifted too much.