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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Loop closures keep being detected even if robot is not moving (Localization mode) #1211

Closed matlabbe closed 7 months ago

matlabbe commented 8 months ago

Would have to revise that logic for localization mode (maybe by using the odometry cache links to see if previous node had a loop closure): https://github.com/introlab/rtabmap/blob/c27507bc772cfda34f6624d386ab2cd62d49e90d/corelib/src/Rtabmap.cpp#L1869-L1871

Same logic used for proximity detection here: https://github.com/introlab/rtabmap/blob/c27507bc772cfda34f6624d386ab2cd62d49e90d/corelib/src/Rtabmap.cpp#L2549-L2551