Re: How to use ORB_SLAM2 library in rtabmap?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-ORB-SLAM2-library-in-rtabmap-tp4230p4239.html

Hi,

When starting rtabmap-rgbd_dataset, you can add "--Rtabmap/DetectionRate 2" to update the map at 2 Hz instead of 1 Hz (so there will be two times more nodes). You can also set "--Rtabmap/CreateIntermediateNodes true" to add all odometry poses (in this case, the graph would be the same size than the number of input images).

cheers,
Mathieu