Re: Error while compiling RTAB-Map with g2o support

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-while-compiling-RTAB-Map-with-g2o-support-tp422p432.html

Yes, rtabmap builds with g2o if it is installed (whether by the ROS binaries or source). Well, I only tested with the ROS binaries though.

RTAB-Map uses TORO by default for graph optimization, the option to use g2o becomes available when rtabmap is built with it. So yes, RTAB-Map can refine maps without g2o.

SURF is mostly used for loop closure detection, and RTAB-Map's loop closure detection benchmark is based on it (see referred papers). SURF is not used by default for the visual odometry, GFTT+BRIEF is used by default because it is much faster than SURF. However, I don't have comparisons for the odometry quality between all the features that can be used (SURF/SIFT/ORB/BRIEF/FAST/FREAK/BRISK). Same for loop closure detection.

cheers