Re: How to analyse the source code?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-analyse-the-source-code-tp3193p3201.html

Hi,

For the SLAM back-end: see Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM and Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation. For the SLAM front-end (visual odometry), there is no paper yet (general info here).

If you want to see which part of the code is called, launch in debug mode, you will have a lot of debug messages on terminal. To do so, add "--udebug" or "--uinfo" argument when launching rtabmap or rgbd_odometry nodes.

cheers,
Mathieu