How to close loop-closure-detection function?

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How to close loop-closure-detection function?

yincanben
Hi,matlabbe,

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?

Thanks.
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Re: How to close loop-closure-detection function?

matlabbe
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Hi,

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...".

cheers,
Mathieu
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Re: How to close loop-closure-detection function?

yincanben
I want to disable loop-closure-detection to test our algorithm Whether the performance of odometry has improved, Can I disable the loop closure detector by seting parameters in launch fileļ¼Ÿ
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Re: How to close loop-closure-detection function?

matlabbe
Administrator
Yes, the best way is to disable features extraction in rtabmap, set parameter "Kp/WordsPerImage" to -1.
<param name="Kp/WordsPerImage" type="string" value="-1.0"/>

Another way, while keeping loop closure detection, is to download the "not optimized" graph from rtabmapviz when the process is paused: Edit->"Download graph only" -> "global not optimized" option.

cheers
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Re: How to close loop-closure-detection function?

yincanben
Also, I want to output every pose when I run rtabmap? What should I do?
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Re: How to close loop-closure-detection function?

matlabbe
Administrator
You can subscribe to /rtabmap/odom topic:

$ rostopic echo /rtabmap/odom/pose/pose


Note that if you don't need the 3D map to evaluate the odometry, you don't have to use the rtabmap node. You can just record the odometry messages above.