Re: How to process RGBD-SLAM datasets with RTAB-Map?

Posted by m.omar82 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-tp939p2619.html

Dear Mathieu

can you clear it for me:
for loop closure detection you use SURF, and for RANSAC you use GFTT?
that is mean RTABMAP extract visual feature two time?

in the code can you show me the condition where RTABMAP check RANSAC point reach the minimum to accepted as loop closure ?

Thanks for your support