Re: Adding a manual loop constraint

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-a-manual-loop-constraint-tp6540p6547.html

Hi Alan,

At least, the scans should overlap. With latest rtabmap version, we can click on "Add" even if Reg/Strategy=1 (ICP-only) to get a rough transform. With the "..." button next to transform values displayed, we can then manually change position and orientation. When scans are close enough, I click on Refine, generally it works.

In SQL table, the "transform" field is a 3x4 transformation matrix (12 float of 32 bits binary data).

cheers,
Mathieu