Re: Disable Loop Closure detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Disable-Loop-Closure-detection-tp6189p6242.html

Nothing to call, it should optimize automatically when a prior pose is received and Optimizer/PriorsIgnored=false. However, I fixed a bug to make optimization happen not only in localization mode, but also in SLAM mode. See this commit. I tested with priors (GPS) and gravity constraints (IMU). If you want to try with a GPS example, you can download the database from this tutorial: https://github.com/introlab/rtabmap/wiki/Robust-Graph-Optimization#multi-session. In GUI, the Optimizer/PriorsIgnored parameter is under Graph optimization panel in Preferences ("Ignore pose prior" checkbox). You would see that each time a new pose is added, the whole graph shifts a little.

cheers,
Mathieu