I want to test the performance of using loop-closure-detection when I build a map , Can you tell me how to close loop-closure-detection function? Also, I want to output every pose of the key frame, what should I do?
If you want to test the performance of the loop closure detector, I suggest to save the RGB images of the map in a folder and to use "rtabmap-console" to process them. Some examples on the Benchmark page.
For convenience, you can extract RGB images from a rtabmap's database using "rtabmap-databaseViewer" application. Open a database, then click File->"Extract images...".