Re: Adding more loop detection in post-processing

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-more-loop-detection-in-post-processing-tp2643p2649.html

Hi,

I tried on Ubuntu 14.04 (latest code) and Mac Os X (0.11.13 binaries), and I don't have the GTSAM error. I used your config file and it worked like in my previous post. I tried with TORO, but I needed to set max graph optimization error to 0:
 

Here is an example of one of the first loop closures to happen after the big loop (until there there were already about 69 loop closures detected, 92 rejected):



Do you see at least some green screens like above sometimes?

cheers,
Mathieu