In what cases does the "// RGB-D SLAM" option work?

[mikkey2]

In the following L349, there is a set of options for "// RGB-D SLAM".
Is this an option that is reflected when using the rgbd_odometry node to calculate odometry?

https://github.com/introlab/rtabmap/blob/master/corelib/include/rtabmap/core/Parameters.h

Is this an option that is reflected when using nodes, or is it also reflected when using ICP odometry or external odometry?

I was trying to experiment with the options regarding loop closures and was wondering.

Thanks again. Sorry for my lack of knowledge.

[matlabbe]

Hi,

For odometry nodes, only some parameters are used. See https://github.com/introlab/rtabmap/blob/44810a14e0654bf897c0aa1fbd2c4a9fa684310a/corelib/src/Parameters.cpp#L181-L191, the parameter groups (e.g., parameters starting with Odom or Vis) that are used by odometry. For rgbd_odometry node, it is when only "vis=true".

"RGBD/" parameters are related to rtabmap node in metric mode (default), not odometry.

cheers,
Mathieu

[mikkey2]

Thank you for your prompt reply.
You have helped me to understand.