Re: General questions about mapping and odometry

Posted by adr_arroyo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/General-questions-about-mapping-and-odometry-tp3432p3434.html

Forgot to ask also about the filtering strategy
The odometry filtering strategy occurs before the graph optimization, when a node is added, am I right?
How does this affect the graph optimization strategy? Are there parameters that are influenced when using one strategy or another?

Also, what is the difference between using Force3DOF or not? Does it influence other parameters?

lastly, the approx_sync parameter, saves the incoming messages into a queue waiting for the rest of messages, when it receives all the necessary messages, it publishes the output. Is this correct or does it do something different?

Cheers