Disable Loop Closure detection

Posted by ricber on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Disable-Loop-Closure-detection-tp6189.html

Hi,
I've read here https://answers.ros.org/question/226606/rtabmap-ros-mapping-without-loop-closure-detection/ that is possible to disable loop closure detection by setting Kp/WordsPerImage parameter to -1.

However, I can't find this parameter anymore in the header file at https://github.com/introlab/rtabmap/blob/master/corelib/include/rtabmap/core/Parameters.h.

How can I do?

I also would like to know, in case the loop closure is disabled, if the rtabmap node performs the graph optimization that is usually done after Loop Closure. In this case, I am expecting that the graph optimization is performed when the TF transform map->odom is updated by an external source of odometry. Is this correct?

Thanks,
Riccardo.