Re: RTAB-MAP with only 3D LIDAR and no loop closing

Posted by Amber on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-MAP-with-only-3D-LIDAR-and-no-loop-closing-tp8282p8599.html

Hi Matheu,

thank you for your response. I tried many bags over the last two weeks and got the mapdata publishing and cmr_lidarloop detecting loop closures with lidar only. However, to verify things are working I want to check if there is/are matching loop closures obtained using camera data (RTAB-Map) and lidar data (using cmr_lidarloop). While I set subscribe_scan_descriptor (true), can I keep subscribe_rgbd (true) at the same time? Can I identify these two kinds of loop closures distinctively in rtabmapviz?

warm regards,