Node Positioning

Posted by alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Node-Positioning-tp5406.html

Hi Mathieu,

Can you describe how node positions are determined in rtabmap. Between subsequent nodes odometric constraints (edges) are added I understood. Is it possible to force the node formation every "x" meter or so instead of the default behaviour. If so how do I implement it. Also how do I change the size of the node and edge radius in ROS rviz.

Thanks
Alex