Re: Cplusplus Loop Closure Detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Cplusplus-Loop-Closure-Detection-tp686p721.html

Hi,

You are not calling rtabmap.process() method. Also, a loop closure would not be detected using only 1 image. The loop closure hypotheses need to grow with a sequence of images. In your example, you could try to process more images:

int main(int argc, char * argv[]) 
{ 
  
  // Create RTAB-Map 
  rtabmap::Rtabmap rtabmap; 

  rtabmap.setTimeThreshold(700.0f); // Time threshold : 700 ms, 0 ms means no limit 

  rtabmap::ParametersMap parameters; 
  parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapLoopThr(), "0.11")); 
  parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDEnabled(), "false")); 
  parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false")); 
  parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpIncrementalDictionary(), "false")); 
  parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemSTMSize(), "1")); 

  std::string databasePath = "/home/mugiro/Documents/RTAB-Map/test3.db"; 
  rtabmap.init(parameters, databasePath); 

  rtabmap::CameraOpenNI2 camera; 
  if(camera.init()) 
  { 
    cv::Mat rgb,depth; 
    float fx,fy,cx,cy; 

    camera.takeImage(rgb, depth, fx, fy, cx, cy); 
    while(!rgb.empty()) 
    {      
       rtabmap.process(rgb);
       
       int id = rtabmap.getLoopClosureId(); 
       printf("\nloop closure id = %d\n", id);

       camera.takeImage(rgb, depth, fx, fy, cx, cy);  
    } 

  } 
  return 0; 
}