Re: RTAB-map only for mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-only-for-mapping-tp1896p2462.html

Hi,

the estimator used by ICP is either pcl::registration::TransformationEstimationPointToPlaneLLS (point to plane) or to default one in pcl::IterativeClosestPoint (point to point). See bottom of util3d_registration.cpp. Indeed, other approaches could be used based on the application and sensor used as shown in the paper.

cheers,
Mathieu