Re: RTABMAP_ROS with ORBSLAM3

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-ROS-with-ORBSLAM3-tp10153p10177.html

Hi,

ORBSLAM doesn't output a covariance, so we use a fixed one: https://github.com/introlab/rtabmap/blob/5b810da73b579b2f1c4f3f094024d6f9f29d2a0e/corelib/src/odometry/OdometryORBSLAM3.cpp#L515-L528

Don't remember exactly why we made the change in this commit from previous values hard-coded from viso2 package to know relative to baseline of the camera (though it could make sense if larger baseline may means larger environment with features farther away).


cheers,
Mathieu