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-tp1896p2922.html

Hi,

Yes, the transform between two nodes is computed from odometry poses: T = odomPose1.inv() * odomPoseP2.

The mapping (rtabmap) keeps only one image per node each Hz. The visual odometry tries to process as many frames as it can.

cheers,
Mathieu