Re: what is the relation between visual features "loop closure" and navigation using Kinect

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/what-is-the-relation-between-visual-features-loop-closure-and-navigation-using-Kinect-tp2512p2525.html

Hi,

1. yes, better localization is always good for navigation
2. do you mean in format used in TUM's RGB-D datasets? If so, the easiest way is to do File->Export poses (then select RGBD-SLAM format).
3. No, the console app is only used for loop closure detection benchmark. For RGBD-SLAM, you have to use the GUI. Note that you can disable 3D cloud rendering (Preferences->3D Rendering), close odometry view and loop closure view to avoid most of the GUI latency overhead.

cheers,
Mathieu