Reg/Strategy = VisIcp meaning

Posted by ricber on Feb 18, 2019; 3:34pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reg-Strategy-VisIcp-meaning-tp5522.html

Hi guys,
I do not understand the meaning of this parameter. What does it mean the option VisIcp? Can I perform visual registration while using lidar odometry and vice-versa? Is VisIcp an additional form of registration that leverages both icp and visual information?
Also, can I use visual registration (Reg/Strategy = 0) while using icp odometry?

Thanks.