Re: Question about rgbd_odometry bundle_adjustement step

Posted by matlabbe on Aug 23, 2024; 12:12am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Question-about-rgbd-odometry-bundle-adjustement-step-tp10386p10393.html

Sorry, I meant Odom/Strategy=0, not Optimizer/Strategy=0 in my previous post, I corrected it.

Default of Optimizer/Strategy is indeed 2 (if built with GTSAM) or 1 (if built with g2o and not gtsam). That's not used by odometry, only graph optimization on rtabmap side.

Vis/BundleAdjustment is done only between two frames. OdomF2M/BundleAdjustment is done using 3D features of the local map and the 2D features of the keyframes in the local map + current frame. Doing Vis/BundleAdjustment on top of OdomF2M/BundleAdjustment was redundant, so it is why it is disabled if so.

cheers,
Mathieu