Re: rtabmap does not find loop closures

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-does-not-find-loop-closures-tp6586p6607.html

Hi,

To use GTSAM, only RGBD/OptimizeStrategy = 2 is needed. RGBD/OptimizeStrategy=1 means g2o, and RGBD/OptimizeStrategy=0 means TORO. If rtabmap is not built with GTSAM support, RGBD/OptimizeStrategy will be set to 1 by default and the option will be grayed out in the GUI. If you set it to 2 with rosparam, you would have a warning in the terminal saying that you cannot use GTSAM (rtabmap not built with it), so g2o is used instead.

Parameters RGBD/OptimizeMaxError and Optimizer/Robust are mutually exclusive for loop closure rejection, and they can work with g2o and gtsam. Only Optimizer/Robust won't work with TORO.

cheers,
Mathieu