What are intermediate nodes

Posted by tango_explorer on
URL: http://official-rtab-map-forum.206.s1.nabble.com/What-are-intermediate-nodes-tp3586.html

Hi,

Does anyone know what intermediate nodes in the RTABMAP code are? I'm guessing they are  not keyframes. Does anyone know how the keyframes are selected (which file I can find this in) and how the intermediate nodes are selected?

Also if Mathieu gets to read this, just wanted to say a BIG thank you for all the effort you put into writing RTABMAP and supporting this forum. I cannot begin to imagine how you have the resources to maintain this endeavor, but thanks.

Thanks!