Re: Underlying RTABMap RGBD Algorithm

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Underlying-RTABMap-RGBD-Algorithm-tp4104p4110.html

Hi,

To create dense stereo image for the 3D map at 1 Hz, rtabmap is indeed using cv::StereoBM when using stereo input. For sparse stereo, a slightly modified version of cv:: calcOpticalFlowPyrLK() is used.

cheers,
Mathieu