Refine previously detected Loop Closures only

[mattiasmar]

In the database viewer there is a "refine" button that can be used to update the visual registration between two nodes. What are my options to call this method from the command line for all previously detected loop closures with updated rtabmap parameters (e.g. while extracting more keypoints for that particular node pair)?

Thanks!

[matlabbe]

There is no command line tool for that, but you can do it from rtabmap-databaseViewer menu:

You can change parameters in Core panel before launching the refining. Note that if you want to re-extract features, you have to enable RGBD/LoopClosureReextractFeatures: