Map Optimized before Loop Closure detected

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-Optimized-before-Loop-Closure-detected-tp1409.html

Hello,

I am working with rtabmap_ros package. As I understand, it optimizes the graph and 3D point cloud when loop closure has been detected. But in my case, it optimizes even if loop closure has not been detected.

1. In the paper about loop closure detection, I read that there are two types of links: neighbors and loop closure. Where in the code are these links added to the graph? Are we differentiating between these links?

2. Where in the code is loop closure being detected? I want to go through the steps.

3. What could be the reason for the graph to be optimized even before loop closure has been detected? Is MapOptimizerNode responsible for this optimization?

4. When the graph is optimized, the position of the odom frame will change, am I right? I think that in optimization the error is huge due to which the position of the odom varies drastically.

These might be very basic doubts but I think they are important to get a complete understanding of the package.
Any help is appreciated. Thanks in advance!!