Bundle Adjustment questions

[scanboy]

Hi Mathieu,

When it comes to Bundle Adjustment in rtabmap is it possible to optimize/adjust the poses in one MultiCamera SensorData (that is built from known poses) with bundle adjustment or can I only bundle adjust between different SensorData (single and/or multi camera) objects?

Thanks,
Scanboy

[matlabbe]

Hi Scanboy,

The current interface for bundle adjustment supports only single camera model or stereo camera model. One camera model per pose. It could be possible to extend the approach to support multi-camera models per pose with some codings. I don't have a multi-camera setup to verify this though.

cheers,
Mathieu