Re: Cannot detect more loop closures offline

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Cannot-detect-more-loop-closures-offline-tp4777p4787.html

Hi,

It is normal as you set:

<param name="Reg/Strategy"               type="string" value="1"/> <!-- ICP -->

which is fine for the robot, but for database viewer, this parameter is also used to add or refine constraints. When refining constraints it should be okay as a guess exists. However to add new constraints, change in database viewer this parameter to 2 (Vis+ICP). See View->Core Parameters->Reg tab. A visual guess will be computed, then refined with ICP.

cheers,
Mathieu