Question about rgbd_odometry bundle_adjustement step

Posted by AlessioParmeggiani on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Question-about-rgbd-odometry-bundle-adjustement-step-tp10386.html

Hi, I noticed that the rgbd_odometry node has three different parameters for selecting the bundle adjustement approach to be used:
OdomF2M/BundleAdjustment
Optimizer/Strategy
Vis/BundleAdjustment


In case of Reg/Strategy = "0" (Vis) and   Odom/Strategy = "0" (F2M) which of the above parameters has the priority in selecting the bundle adjustement approach?
Do you confirm that there is only one bundle adjustement step done after motion estimation using the features in the local map?