How to add keyframe when RTABMap is built?

Posted by yincanben on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-add-keyframe-when-RTABMap-is-built-tp506.html

Hi, matlabbe,
     RTABMap could remove dynamic objects when loop closure is detected. But it can,t remove whole dynamic objects. I have achieve a model for removing dynamic objects. I want to add it to RTABMap projects to test performance of removing dynamic objects when map is built.  I want to know that how to add keyframe in the processing of building map. which piece code should I look up? Thank you!