Re: Reference frame of visual odometry

Posted by dmkarage on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reference-frame-of-visual-odometry-tp2681p2797.html

Hi Matlabbe,

once again thanks for the reply. I still have troubles to fully understand where the visual odometry is calculated. If for example i set "frame_id = base_link", does it mean that the algorithm thinks that the camera is mounted on the base_link, or it  calculates the visual odometry on the actual camera frame and then does the transformation to the base_link?

kind regards