Re: Disable Loop Closure detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Disable-Loop-Closure-detection-tp6189p6195.html

Hi,

The parameter Kp/WordsPerImage is now called Kp/MaxFeatures.

rtabmap won't perform graph optimization if loop closure is disabled (and RGB/ProximityBySpace=false). map -> odom TF would be always Identity.

cheers,
Mathieu