Re: Lenovo Phab 2 Pro Google Project Tango

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lenovo-Phab-2-Pro-Google-Project-Tango-tp2355p2384.html

Hi,

Data recorder is not meant to do mapping, only to record raw data, so loop closure detection is disabled to save some processing/battery. Note that you've found a hack changing the max features to re-enable the loop closure detection. Under the hood, "Data Recorder" mode is setting "Max Features" to "disabled" so that loop closure detection is disabled when "Max Features" is disabled. Actually, the "Data Recorder" mode does exactly the same as setting directly "Max Features" to "disabled", but meshes are not created in Data Recorder mode to save some processing/battery.

Note that in Mapping mode, you can hide the meshes to save some processing time too, uncheck Rendering options...->Map Visible.

cheers,
Mathieu