Re: Change feature detection method in rtabmap_ros

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Change-feature-detection-method-in-rtabmap-ros-tp2574p2598.html

We cannot see what you changed. Click on More -> Raw text to copy paste launch files.

If you are using rtabmap.launch, you can change features like this:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Vis/FeatureType 5 --Kp/DetectorStrategy 1"

Here using GFTT/FREAK for odometry and SIFT for the vocabulary of loop closure detection.

Binary descriptors (ORB, BRIEF, FREAK) are more suitable for odometry, for which we want very fast extraction/matching. Float descriptors (SIFT, SURF) are more suitablefor loop closure detection, because they are more discriminative (at higher computation cost).

cheers