System framework and data flow

Posted by yanmingz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/System-framework-and-data-flow-tp1048.html

Hi Mathieu,

Thanks for your warm help in the last a few months.

I have one more question.

Based on your paper and code, the whole RTAB-Map can be divided into 2 parts, visual odometry (VO) and bundle adjustment (BA).

For RGBD slam, the main inputs for visual odometry are the rgb/depth image pair and output is the pose of base-link.

For bundle adjustment, the main inputs for bundle adjustment are pose of base-link and rgb/depth image pair. And the output is the optimized map.

I am not very sure if I am correct for the description above.

My question is I notice that the optimized map can change the pose output by VO and I can't find how it is implemented in your code?

In more details, if the rgb/depth image pair at time Tn is input to both VO and BA, and loop closure is detected and map optimization is done between time Tn+j and time Tn+j+1, will the changes caused by the optimization be included in change between poses. If so, when and how the changes are included?

Thanks a lot.
Yanming