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-tp1896p2532.html

Hi Shirantha,

When ICP is not used or not, sparse visual registration is done with know correspondences from matched features described above. Then if ICP is enabled, the guess from visual registration is used for ICP, otherwise the guess is used directly as the transform between the two point clouds.

cheers,
Mathieu