Re: Question about rgbd_odometry bundle_adjustement step

Posted by matlabbe on Aug 21, 2024; 6:06pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Question-about-rgbd-odometry-bundle-adjustement-step-tp10386p10389.html

Hi,

To use OdomF2M/BundleAdjustment=1 (default if built with g2o), you need to set Odom/Strategy=0 (default).

If above are used, Vis/BundleAdjustment is disabled (set to 0), so there is only one bundle adjustment done. That is for odometry node.

For rtabmap node, Vis/BundleAdjustment is still used if set with Reg/Strategy=0. "Odom" parameters are not used.

cheers,
Mathieu